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quath.h
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25 // This file is generated by a script. Do not edit directly. Edit the
26 // quat.template.h file to make changes.
27 
28 #ifndef PXR_BASE_GF_QUATH_H
29 #define PXR_BASE_GF_QUATH_H
30 
31 /// \file gf/quath.h
32 /// \ingroup group_gf_LinearAlgebra
33 
34 #include "pxr/pxr.h"
35 #include "pxr/base/gf/api.h"
36 #include "pxr/base/gf/declare.h"
37 #include "pxr/base/gf/vec3h.h"
38 #include "pxr/base/gf/traits.h"
39 #include "pxr/base/gf/half.h"
40 
41 #include <hboost/functional/hash.hpp>
42 
43 #include <iosfwd>
44 
46 
47 template <>
48 struct GfIsGfQuat<class GfQuath> { static const bool value = true; };
49 
50 
51 /// Return the dot (inner) product of two quaternions.
52 GfHalf GfDot(const GfQuath& q1, const GfQuath& q2);
53 
54 
55 /// \class GfQuath
56 /// \ingroup group_gf_LinearAlgebra
57 ///
58 /// Basic type: a quaternion, a complex number with a real coefficient and
59 /// three imaginary coefficients, stored as a 3-vector.
60 ///
61 class GfQuath
62 {
63  public:
64  typedef GfHalf ScalarType;
66 
67  /// Default constructor leaves the quaternion undefined.
68  GfQuath() {}
69 
70  /// Initialize the real coefficient to \p realVal and the imaginary
71  /// coefficients to zero.
72  ///
73  /// Since quaternions typically must be normalized, reasonable values for
74  /// \p realVal are -1, 0, or 1. Other values are legal but are likely to
75  /// be meaningless.
76  ///
77  explicit GfQuath (GfHalf realVal) : _imaginary(0), _real(realVal) {}
78 
79  /// Initialize the real and imaginary coefficients.
81  : _imaginary(i, j, k), _real(real)
82  {
83  }
84 
85  /// Initialize the real and imaginary coefficients.
86  GfQuath(GfHalf real, const GfVec3h &imaginary)
87  : _imaginary(imaginary), _real(real)
88  {
89  }
90 
91  /// Construct from GfQuatd.
92  GF_API
93  explicit GfQuath(class GfQuatd const &other);
94  /// Construct from GfQuatf.
95  GF_API
96  explicit GfQuath(class GfQuatf const &other);
97 
98  /// Return the identity quaternion, with real coefficient 1 and an
99  /// imaginary coefficients all zero.
100  static GfQuath GetIdentity() { return GfQuath(1.0); }
101 
102  /// Return the real coefficient.
103  GfHalf GetReal() const { return _real; }
104 
105  /// Set the real coefficient.
106  void SetReal(GfHalf real) { _real = real; }
107 
108  /// Return the imaginary coefficient.
109  const GfVec3h &GetImaginary() const { return _imaginary; }
110 
111  /// Set the imaginary coefficients.
112  void SetImaginary(const GfVec3h &imaginary) {
113  _imaginary = imaginary;
114  }
115 
116  /// Set the imaginary coefficients.
118  _imaginary.Set(i, j, k);
119  }
120 
121  /// Return geometric length of this quaternion.
122  GfHalf GetLength() const { return GfSqrt(_GetLengthSquared()); }
123 
124  /// length of this quaternion is smaller than \p eps, return the identity
125  /// quaternion.
126  GfQuath
128  GfQuath ret(*this);
129  ret.Normalize(eps);
130  return ret;
131  }
132 
133  /// Normalizes this quaternion in place to unit length, returning the
134  /// length before normalization. If the length of this quaternion is
135  /// smaller than \p eps, this sets the quaternion to identity.
136  GF_API
138 
139  /// Return this quaternion's conjugate, which is the quaternion with the
140  /// same real coefficient and negated imaginary coefficients.
142  return GfQuath(GetReal(), -GetImaginary());
143  }
144 
145  /// Return this quaternion's inverse, or reciprocal. This is the
146  /// quaternion's conjugate divided by it's squared length.
147  GfQuath GetInverse() const {
148  return GetConjugate() / _GetLengthSquared();
149  }
150 
151  /// Transform the GfVec3h point. If the quaternion is normalized,
152  /// the transformation is a rotation. Given a GfQuath q, q.Transform(point)
153  /// is equivalent to:
154  ///
155  /// (q * GfQuath(0, point) * q.GetInverse()).GetImaginary()
156  ///
157  /// but is more efficient.
158  GF_API
159  GfVec3h Transform(const GfVec3h& point) const;
160 
161  /// Hash.
162  friend inline size_t hash_value(const GfQuath &q) {
163  size_t h = hboost::hash<ScalarType>()(q.GetReal());
164  hboost::hash_combine(h, q.GetImaginary());
165  return h;
166  }
167 
168  /// Component-wise negation.
169  GfQuath operator-() const {
170  return GfQuath(-GetReal(), -GetImaginary());
171  }
172 
173  /// Component-wise quaternion equality test. The real and imaginary parts
174  /// must match exactly for quaternions to be considered equal.
175  bool operator==(const GfQuath &q) const {
176  return (GetReal() == q.GetReal() &&
177  GetImaginary() == q.GetImaginary());
178  }
179 
180  /// Component-wise quaternion inequality test. The real and imaginary
181  /// parts must match exactly for quaternions to be considered equal.
182  bool operator!=(const GfQuath &q) const {
183  return !(*this == q);
184  }
185 
186  /// Post-multiply quaternion \p q into this quaternion.
187  GF_API
188  GfQuath &operator *=(const GfQuath &q);
189 
190  /// Multiply this quaternion's coefficients by \p s.
192  _real *= s;
193  _imaginary *= s;
194  return *this;
195  }
196 
197  /// Divide this quaternion's coefficients by \p s.
199  _real /= s;
200  _imaginary /= s;
201  return *this;
202  }
203 
204  /// Add quaternion \p q to this quaternion.
206  _real += q._real;
207  _imaginary += q._imaginary;
208  return *this;
209  }
210 
211  /// Component-wise unary difference operator.
213  _real -= q._real;
214  _imaginary -= q._imaginary;
215  return *this;
216  }
217 
218  /// Component-wise binary sum operator.
219  friend GfQuath
220  operator +(const GfQuath &q1, const GfQuath &q2) {
221  return GfQuath(q1) += q2;
222  }
223 
224  /// Component-wise binary difference operator.
225  friend GfQuath
226  operator -(const GfQuath &q1, const GfQuath &q2) {
227  return GfQuath(q1) -= q2;
228  }
229 
230  /// Returns the product of quaternions \p q1 and \p q2.
231  friend GfQuath
232  operator *(const GfQuath &q1, const GfQuath &q2) {
233  return GfQuath(q1) *= q2;
234  }
235 
236  /// Returns the product of quaternion \p q and scalar \p s.
237  friend GfQuath
239  return GfQuath(q) *= s;
240  }
241 
242  /// Returns the product of quaternion \p q and scalar \p s.
243  friend GfQuath
245  return GfQuath(q) *= s;
246  }
247 
248  /// Returns the product of quaternion \p q and scalar 1 / \p s.
249  friend GfQuath
251  return GfQuath(q) /= s;
252  }
253 
254  private:
255  /// Imaginary part
256  GfVec3h _imaginary;
257 
258  /// Real part
259  GfHalf _real;
260 
261  /// Returns the square of the length
262  GfHalf
263  _GetLengthSquared() const {
264  return GfDot(*this, *this);
265  }
266 };
267 
268 /// Spherically linearly interpolate between \p q0 and \p q1.
269 ///
270 /// If the interpolant \p alpha is zero, then the result is \p q0, while
271 /// \p alpha of one yields \p q1.
273 GfSlerp(double alpha, const GfQuath& q0, const GfQuath& q1);
274 
276 GfSlerp(const GfQuath& q0, const GfQuath& q1, double alpha);
277 
278 inline GfHalf
279 GfDot(GfQuath const &q1, GfQuath const &q2) {
280  return GfDot(q1.GetImaginary(), q2.GetImaginary()) +
281  q1.GetReal()*q2.GetReal();
282 }
283 
284 /// Output a GfQuatd using the format (re, i, j, k)
285 /// \ingroup group_gf_DebuggingOutput
286 GF_API std::ostream& operator<<(std::ostream &, GfQuath const &);
287 
289 
290 #endif // PXR_BASE_GF_QUATH_H
Definition: quath.h:61
void SetImaginary(GfHalf i, GfHalf j, GfHalf k)
Set the imaginary coefficients.
Definition: quath.h:117
friend GfQuath operator+(const GfQuath &q1, const GfQuath &q2)
Component-wise binary sum operator.
Definition: quath.h:220
GfHalf GetLength() const
Return geometric length of this quaternion.
Definition: quath.h:122
double GfSqrt(double f)
Definition: math.h:80
*get result *(waiting if necessary)*A common idiom is to fire a bunch of sub tasks at the and then *wait for them to all complete We provide a helper class
Definition: thread.h:629
bool operator!=(const GfQuath &q) const
Definition: quath.h:182
GfQuath(GfHalf real, GfHalf i, GfHalf j, GfHalf k)
Initialize the real and imaginary coefficients.
Definition: quath.h:80
void SetImaginary(const GfVec3h &imaginary)
Set the imaginary coefficients.
Definition: quath.h:112
GfQuath(GfHalf realVal)
Definition: quath.h:77
GF_API std::ostream & operator<<(std::ostream &, GfQuath const &)
friend GfQuath operator*(const GfQuath &q1, const GfQuath &q2)
Returns the product of quaternions q1 and q2.
Definition: quath.h:232
GfQuath & operator/=(GfHalf s)
Divide this quaternion's coefficients by s.
Definition: quath.h:198
Definition: quatf.h:60
static GfQuath GetIdentity()
Definition: quath.h:100
bool operator==(const GfQuath &q) const
Definition: quath.h:175
GfQuath()
Default constructor leaves the quaternion undefined.
Definition: quath.h:68
GfQuath & operator-=(const GfQuath &q)
Component-wise unary difference operator.
Definition: quath.h:212
GfHalf GetReal() const
Return the real coefficient.
Definition: quath.h:103
GLdouble GLdouble GLdouble GLdouble q
Definition: glew.h:1419
GfQuath(GfHalf real, const GfVec3h &imaginary)
Initialize the real and imaginary coefficients.
Definition: quath.h:86
const GfVec3h & GetImaginary() const
Return the imaginary coefficient.
Definition: quath.h:109
friend size_t hash_value(const GfQuath &q)
Hash.
Definition: quath.h:162
friend GfQuath operator/(const GfQuath &q, GfHalf s)
Returns the product of quaternion q and scalar 1 / s.
Definition: quath.h:250
GfQuath GetConjugate() const
Definition: quath.h:141
GF_API GfVec3h Transform(const GfVec3h &point) const
GfQuath GetInverse() const
Definition: quath.h:147
GF_API GfHalf Normalize(GfHalf eps=GF_MIN_VECTOR_LENGTH)
GLfloat GLfloat GLfloat GLfloat h
Definition: glcorearb.h:2001
GfVec3h ImaginaryType
Definition: quath.h:65
PXR_NAMESPACE_CLOSE_SCOPE PXR_NAMESPACE_OPEN_SCOPE
Definition: path.h:1375
GfQuath operator-() const
Component-wise negation.
Definition: quath.h:169
GfHalf GfDot(const GfQuath &q1, const GfQuath &q2)
Return the dot (inner) product of two quaternions.
Definition: quath.h:279
GF_API GfQuath GfSlerp(double alpha, const GfQuath &q0, const GfQuath &q1)
void SetReal(GfHalf real)
Set the real coefficient.
Definition: quath.h:106
#define PXR_NAMESPACE_CLOSE_SCOPE
Definition: pxr.h:91
GLsizei const GLfloat * value
Definition: glcorearb.h:823
GfQuath GetNormalized(GfHalf eps=GF_MIN_VECTOR_LENGTH) const
Definition: quath.h:127
Definition: quatd.h:60
GF_API GfQuath & operator*=(const GfQuath &q)
Post-multiply quaternion q into this quaternion.
GfHalf ScalarType
Definition: quath.h:64
GLfloat GLfloat GLfloat alpha
Definition: glcorearb.h:111
Definition: vec3h.h:64
GLdouble s
Definition: glew.h:1395
GfVec3h & Set(GfHalf s0, GfHalf s1, GfHalf s2)
Set all elements with passed arguments.
Definition: vec3h.h:131
#define GF_MIN_VECTOR_LENGTH
Definition: limits.h:34
#define GF_API
Definition: api.h:40
GfQuath & operator+=(const GfQuath &q)
Add quaternion q to this quaternion.
Definition: quath.h:205