/***********************************************************************
* FXRuby -- the Ruby language bindings for the FOX GUI toolkit.
* Copyright (c) 2001-2009 by Lyle Johnson. All Rights Reserved.
*
* This library is free software; you can redistribute it and/or
* modify it under the terms of the GNU Lesser General Public
* License as published by the Free Software Foundation; either
* version 2.1 of the License, or (at your option) any later version.
*
* This library is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
* Lesser General Public License for more details.
*
* You should have received a copy of the GNU Lesser General Public
* License along with this library; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
* For further information please contact the author by e-mail
* at "[email protected]".
***********************************************************************/
%rename("adjust!") FXQuatf::adjust();
%rename("arc!") FXQuatf::arc(const FXVec3f& a,const FXVec3f& b);
%rename("lerp!") FXQuatf::lerp(const FXQuatf& u,const FXQuatf& v,FXfloat f);
/// Single-precision quaternion
class FXQuatf : public FXVec4f {
public:
/// Construct
FXQuatf();
/// Construct from axis and angle
FXQuatf(const FXVec3f& axis,FXfloat phi=0.0);
/// Construct from euler angles yaw (z), pitch (y), and roll (x)
FXQuatf(FXfloat roll,FXfloat pitch,FXfloat yaw);
/// Construct quaternion from axes
FXQuatf(const FXVec3f& ex,const FXVec3f& ey,const FXVec3f& ez);
/// Construct quaternion from 3x3 matrix
FXQuatf(const FXMat3f& mat);
/// Construct from components
FXQuatf(FXfloat x,FXfloat y,FXfloat z,FXfloat w);
/// Adjust quaternion length
FXQuatf& adjust();
/// Set quaternion from axis and angle
void setAxisAngle(const FXVec3f& axis,FXfloat phi=0.0f);
%extend {
/// Obtain axis and angle from quaternion
VALUE getAxisAngle() const {
FXVec3f axis;
FXfloat phi;
self->getAxisAngle(axis,phi);
return rb_ary_new3(2,rb_ary_new3(3,rb_float_new(axis.x),rb_float_new(axis.y),rb_float_new(axis.z)),rb_float_new(phi));
}
}
/// Set quaternion from yaw (z), pitch (y), and roll (x)
void setRollPitchYaw(FXfloat roll,FXfloat pitch,FXfloat yaw);
/// Set quaternion from axes
void setAxes(const FXVec3f& ex,const FXVec3f& ey,const FXVec3f& ez);
/// Obtain local x axis
FXVec3f getXAxis() const;
/// Obtain local y axis
FXVec3f getYAxis() const;
/// Obtain local z axis
FXVec3f getZAxis() const;
/// Exponentiate quaternion
FXQuatf exp() const;
/// Take logarithm of quaternion
FXQuatf log() const;
/// Invert quaternion
FXQuatf invert() const;
/// Invert unit quaternion
FXQuatf unitinvert() const;
/// Conjugate quaternion
FXQuatf conj() const;
/// Construct quaternion from arc a->b on unit sphere
FXQuatf& arc(const FXVec3f& a,const FXVec3f& b);
/// Spherical lerp
FXQuatf& lerp(const FXQuatf& u,const FXQuatf& v,FXfloat f);
%extend {
/// Obtain yaw, pitch, and roll from quaternion
VALUE getRollPitchYaw() const {
FXfloat roll,pitch,yaw;
self->getRollPitchYaw(roll,pitch,yaw);
return rb_ary_new3(3,rb_float_new(roll),rb_float_new(pitch),rb_float_new(yaw));
}
/// Get quaternion axes
VALUE getAxes() const {
FXVec3f ex,ey,ez;
self->getAxes(ex,ey,ez);
return rb_ary_new3(3,Qnil,Qnil,Qnil); // FIXME
}
/// Multiply quaternions
FXQuatf operator*(const FXQuatf& other) const { return (*self)*other; }
// Rotation of a vector by a quaternion
FXVec3f operator*(const FXVec3f& vec) const { return (*self)*vec; }
}
};