Fixed tabbing
This commit is contained in:
Robert Osfield
132
include/osg/Quat
132
include/osg/Quat
@@ -33,11 +33,11 @@ class SG_EXPORT Quat
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typedef double value_type;
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value_type _v[4]; // a four-vector
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value_type _v[4]; // a four-vector
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inline Quat() { _v[0]=0.0; _v[1]=0.0; _v[2]=0.0; _v[3]=1.0; }
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inline Quat( value_type x, value_type y, value_type z, value_type w )
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inline Quat() { _v[0]=0.0; _v[1]=0.0; _v[2]=0.0; _v[3]=1.0; }
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inline Quat( value_type x, value_type y, value_type z, value_type w )
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{
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_v[0]=x;
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_v[1]=y;
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@@ -45,7 +45,7 @@ class SG_EXPORT Quat
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_v[3]=w;
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}
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inline Quat( const Vec4f& v )
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inline Quat( const Vec4f& v )
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{
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_v[0]=v.x();
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_v[1]=v.y();
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@@ -53,7 +53,7 @@ class SG_EXPORT Quat
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_v[3]=v.w();
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}
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inline Quat( const Vec4d& v )
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inline Quat( const Vec4d& v )
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{
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_v[0]=v.x();
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_v[1]=v.y();
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@@ -100,18 +100,18 @@ class SG_EXPORT Quat
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}
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/* ----------------------------------
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Methods to access data members
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---------------------------------- */
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Methods to access data members
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---------------------------------- */
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inline Vec4d asVec4() const
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{
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return Vec4d(_v[0], _v[1], _v[2], _v[3]);
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}
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inline Vec4d asVec4() const
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{
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return Vec4d(_v[0], _v[1], _v[2], _v[3]);
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}
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inline Vec3d asVec3() const
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{
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return Vec3d(_v[0], _v[1], _v[2]);
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}
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inline Vec3d asVec3() const
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{
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return Vec3d(_v[0], _v[1], _v[2]);
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}
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inline void set(value_type x, value_type y, value_type z, value_type w)
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{
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@@ -163,20 +163,20 @@ class SG_EXPORT Quat
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bool zeroRotation() const { return _v[0]==0.0 && _v[1]==0.0 && _v[2]==0.0 && _v[3]==1.0; }
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/* -------------------------------------------------------------
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BASIC ARITHMETIC METHODS
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Implemented in terms of Vec4s. Some Vec4 operators, e.g.
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operator* are not appropriate for quaternions (as
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mathematical objects) so they are implemented differently.
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Also define methods for conjugate and the multiplicative inverse.
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------------------------------------------------------------- */
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/// Multiply by scalar
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/* -------------------------------------------------------------
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BASIC ARITHMETIC METHODS
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Implemented in terms of Vec4s. Some Vec4 operators, e.g.
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operator* are not appropriate for quaternions (as
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mathematical objects) so they are implemented differently.
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Also define methods for conjugate and the multiplicative inverse.
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------------------------------------------------------------- */
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/// Multiply by scalar
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inline const Quat operator * (value_type rhs) const
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{
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return Quat(_v[0]*rhs, _v[1]*rhs, _v[2]*rhs, _v[3]*rhs);
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}
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/// Unary multiply by scalar
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/// Unary multiply by scalar
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inline Quat& operator *= (value_type rhs)
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{
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_v[0]*=rhs;
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@@ -186,38 +186,38 @@ class SG_EXPORT Quat
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return *this; // enable nesting
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}
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/// Binary multiply
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inline const Quat operator*(const Quat& rhs) const
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{
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return Quat( rhs._v[3]*_v[0] + rhs._v[0]*_v[3] + rhs._v[1]*_v[2] - rhs._v[2]*_v[1],
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rhs._v[3]*_v[1] - rhs._v[0]*_v[2] + rhs._v[1]*_v[3] + rhs._v[2]*_v[0],
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rhs._v[3]*_v[2] + rhs._v[0]*_v[1] - rhs._v[1]*_v[0] + rhs._v[2]*_v[3],
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rhs._v[3]*_v[3] - rhs._v[0]*_v[0] - rhs._v[1]*_v[1] - rhs._v[2]*_v[2] );
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}
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/// Binary multiply
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inline const Quat operator*(const Quat& rhs) const
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{
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return Quat( rhs._v[3]*_v[0] + rhs._v[0]*_v[3] + rhs._v[1]*_v[2] - rhs._v[2]*_v[1],
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rhs._v[3]*_v[1] - rhs._v[0]*_v[2] + rhs._v[1]*_v[3] + rhs._v[2]*_v[0],
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rhs._v[3]*_v[2] + rhs._v[0]*_v[1] - rhs._v[1]*_v[0] + rhs._v[2]*_v[3],
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rhs._v[3]*_v[3] - rhs._v[0]*_v[0] - rhs._v[1]*_v[1] - rhs._v[2]*_v[2] );
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}
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/// Unary multiply
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inline Quat& operator*=(const Quat& rhs)
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{
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value_type x = rhs._v[3]*_v[0] + rhs._v[0]*_v[3] + rhs._v[1]*_v[2] - rhs._v[2]*_v[1];
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value_type y = rhs._v[3]*_v[1] - rhs._v[0]*_v[2] + rhs._v[1]*_v[3] + rhs._v[2]*_v[0];
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value_type z = rhs._v[3]*_v[2] + rhs._v[0]*_v[1] - rhs._v[1]*_v[0] + rhs._v[2]*_v[3];
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_v[3] = rhs._v[3]*_v[3] - rhs._v[0]*_v[0] - rhs._v[1]*_v[1] - rhs._v[2]*_v[2];
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/// Unary multiply
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inline Quat& operator*=(const Quat& rhs)
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{
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value_type x = rhs._v[3]*_v[0] + rhs._v[0]*_v[3] + rhs._v[1]*_v[2] - rhs._v[2]*_v[1];
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value_type y = rhs._v[3]*_v[1] - rhs._v[0]*_v[2] + rhs._v[1]*_v[3] + rhs._v[2]*_v[0];
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value_type z = rhs._v[3]*_v[2] + rhs._v[0]*_v[1] - rhs._v[1]*_v[0] + rhs._v[2]*_v[3];
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_v[3] = rhs._v[3]*_v[3] - rhs._v[0]*_v[0] - rhs._v[1]*_v[1] - rhs._v[2]*_v[2];
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_v[2] = z;
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_v[1] = y;
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_v[0] = x;
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_v[2] = z;
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_v[1] = y;
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_v[0] = x;
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return (*this); // enable nesting
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}
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return (*this); // enable nesting
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}
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/// Divide by scalar
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/// Divide by scalar
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inline Quat operator / (value_type rhs) const
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{
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value_type div = 1.0/rhs;
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return Quat(_v[0]*div, _v[1]*div, _v[2]*div, _v[3]*div);
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}
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/// Unary divide by scalar
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/// Unary divide by scalar
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inline Quat& operator /= (value_type rhs)
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{
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value_type div = 1.0/rhs;
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@@ -228,27 +228,27 @@ class SG_EXPORT Quat
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return *this;
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}
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/// Binary divide
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inline const Quat operator/(const Quat& denom) const
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{
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return ( (*this) * denom.inverse() );
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}
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/// Binary divide
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inline const Quat operator/(const Quat& denom) const
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{
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return ( (*this) * denom.inverse() );
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}
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/// Unary divide
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inline Quat& operator/=(const Quat& denom)
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{
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(*this) = (*this) * denom.inverse();
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return (*this); // enable nesting
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}
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/// Unary divide
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inline Quat& operator/=(const Quat& denom)
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{
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(*this) = (*this) * denom.inverse();
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return (*this); // enable nesting
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}
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/// Binary addition
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/// Binary addition
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inline const Quat operator + (const Quat& rhs) const
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{
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return Quat(_v[0]+rhs._v[0], _v[1]+rhs._v[1],
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_v[2]+rhs._v[2], _v[3]+rhs._v[3]);
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}
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/// Unary addition
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/// Unary addition
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inline Quat& operator += (const Quat& rhs)
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{
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_v[0] += rhs._v[0];
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@@ -308,14 +308,14 @@ class SG_EXPORT Quat
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/* --------------------------------------------------------
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METHODS RELATED TO ROTATIONS
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Set a quaternion which will perform a rotation of an
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angle around the axis given by the vector (x,y,z).
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Should be written to also accept an angle and a Vec3?
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Set a quaternion which will perform a rotation of an
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angle around the axis given by the vector (x,y,z).
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Should be written to also accept an angle and a Vec3?
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Define Spherical Linear interpolation method also
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Define Spherical Linear interpolation method also
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Not inlined - see the Quat.cpp file for implementation
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-------------------------------------------------------- */
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Not inlined - see the Quat.cpp file for implementation
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-------------------------------------------------------- */
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void makeRotate( value_type angle,
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value_type x, value_type y, value_type z );
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void makeRotate ( value_type angle, const Vec3f& vec );
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