fbxquaternion.h

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/****************************************************************************************
 
   Copyright (C) 2015 Autodesk, Inc.
   All rights reserved.
 
   Use of this software is subject to the terms of the Autodesk license agreement
   provided at the time of installation or download, or which otherwise accompanies
   this software in either electronic or hard copy form.
 
****************************************************************************************/

#ifndef _FBXSDK_CORE_MATH_QUATERNION_H_
#define _FBXSDK_CORE_MATH_QUATERNION_H_

#include <fbxsdk/fbxsdk_def.h>

#include <fbxsdk/core/math/fbxvector4.h>

#include <fbxsdk/fbxsdk_nsbegin.h>

class FBXSDK_DLL FbxQuaternion : public FbxDouble4
{
public:
        FbxQuaternion();

        FbxQuaternion(const FbxQuaternion& pV);

        FbxQuaternion(double pX, double pY, double pZ, double pW = 1.0);

        FbxQuaternion(const FbxVector4& pAxis, double pDegree);
            
        ~FbxQuaternion();

        FbxQuaternion& operator=(const FbxQuaternion& pQuaternion);
            
        double& operator[](int pIndex);

        const double& operator[](int pIndex) const;

        double GetAt(int pIndex) const;

        void SetAt(int pIndex, double pValue);

        void Set(double pX, double pY, double pZ, double pW = 1.0);

        FbxQuaternion operator+(double pValue) const;

        FbxQuaternion operator-(double pValue) const;

        FbxQuaternion operator*(double pValue) const;

        FbxQuaternion operator/(double pValue) const;

        FbxQuaternion& operator+=(double pValue);

        FbxQuaternion& operator-=(double pValue);

        FbxQuaternion& operator*=(double pValue);

        FbxQuaternion& operator/=(double pValue);

        FbxQuaternion operator-() const;
            
        FbxQuaternion operator+(const FbxQuaternion& pQuaternion) const;

        FbxQuaternion operator-(const FbxQuaternion& pQuaternion) const;

        FbxQuaternion operator*(const FbxQuaternion& pOther) const;

        FbxQuaternion operator/(const FbxQuaternion& pOther) const;

        FbxQuaternion& operator+=(const FbxQuaternion& pQuaternion);

        FbxQuaternion& operator-=(const FbxQuaternion& pQuaternion);

        FbxQuaternion& operator*=(const FbxQuaternion& pOther);
            
        FbxQuaternion& operator/=(const FbxQuaternion& pOther);

        FbxQuaternion Product(const FbxQuaternion& pOther) const;

        double DotProduct(const FbxQuaternion& pQuaternion) const;

        void Normalize();

        void Conjugate();

        double Length();

        void Inverse();

        void SetAxisAngle(const FbxVector4& pAxis, double pDegree);

        FbxQuaternion Slerp(const FbxQuaternion& pOther, double pWeight) const;

        void ComposeSphericalXYZ(const FbxVector4 pEuler);

        FbxVector4 DecomposeSphericalXYZ() const;

        bool operator==(const FbxQuaternion & pV) const;
            
        bool operator!=(const FbxQuaternion & pV) const;

        operator double* ();

        operator const double* () const;

        int Compare(const FbxQuaternion &pQ2, const double pThreshold = FBXSDK_TOLERANCE) const;

/*****************************************************************************************************************************
** WARNING! Anything beyond these lines is for internal use, may not be documented and is subject to change without notice! **
*****************************************************************************************************************************/
#ifndef DOXYGEN_SHOULD_SKIP_THIS
    void GetQuaternionFromPositionToPosition(const FbxVector4 &pP0, const FbxVector4 &pP1);
#endif /* !DOXYGEN_SHOULD_SKIP_THIS *****************************************************************************************/
};

#include <fbxsdk/fbxsdk_nsend.h>

#endif /* _FBXSDK_CORE_MATH_QUATERNION_H_ */