AcGeQuaternion.h

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#pragma once
 
//
// (C) Copyright 2005-2024 by Graebert GmbH.
//
// Permission to use, copy, modify, and distribute this software in
// object code form for any purpose and without fee is hereby granted,
// provided that the above copyright notice appears in all copies and
// that both that copyright notice and the limited warranty and
// restricted rights notice below appear in all supporting
// documentation.
//
// GRAEBERT PROVIDES THIS PROGRAM "AS IS" AND WITH ALL FAULTS.
// GRAEBERT SPECIFICALLY DISCLAIMS ANY IMPLIED WARRANTY OF
// MERCHANTABILITY OR FITNESS FOR A PARTICULAR USE.  GRAEBERT GMBH
// DOES NOT WARRANT THAT THE OPERATION OF THE PROGRAM WILL BE
// UNINTERRUPTED OR ERROR FREE.
 
class AcGeMatrix3d;
class AcGeTol;
class AcGeVector3d;
 
class ARX_API AcGeQuaternion
{
public:
         ARX_API_STATIC static  AcGeQuaternion const kIdentity;
 
public:
          AcGeQuaternion( AcGeQuaternion const &);
          AcGeQuaternion( AcGeVector3d const &, AcGeVector3d const &, AcGeVector3d const &);
          AcGeQuaternion(double, AcGeVector3d const &);
          AcGeQuaternion(void);
          AcGeQuaternion( double, double, double, double );
          operator  AcGeMatrix3d(void)const ;
          AcGeQuaternion &  conjugateIt(void);
          AcGeQuaternion &  extractRotation( AcGeMatrix3d const &);
          AcGeQuaternion &  negate(void);
          AcGeQuaternion &  operator*=( AcGeQuaternion const &);
          AcGeQuaternion &  operator=( AcGeQuaternion const &);
          AcGeQuaternion &  postMultBy( AcGeQuaternion const &);
          AcGeQuaternion &  preMultBy( AcGeQuaternion const &);
          AcGeQuaternion &  setToAngleAndAxis(double, AcGeVector3d const &);
          AcGeQuaternion &  setToProduct( AcGeQuaternion const &, AcGeQuaternion const &);
          AcGeQuaternion  conjugate(void)const ;
          AcGeQuaternion  operator*( AcGeQuaternion const &)const ;
          AcGeQuaternion  operator-(void)const ;
         double  getAngleAndAxis( AcGeVector3d &)const ;
         Frx::Boolean  isEqualTo( AcGeQuaternion const &, AcGeTol const & = AcGeContext::gTol)const ;
         Frx::Boolean  operator!=( AcGeQuaternion const &)const ;
         Frx::Boolean  operator==( AcGeQuaternion const &)const ;
         void  getMatrix( AcGeMatrix3d &)const ;
         void getValues( double&, double&, double&, double& );
 
private:
         double &  operator[](unsigned int)const ;
 
};