114 lines
3.3 KiB
C++
114 lines
3.3 KiB
C++
/**
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* @file llquaternion2.h
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* @brief LLQuaternion2 class header file - SIMD-enabled quaternion class
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*
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* $LicenseInfo:firstyear=2010&license=viewerlgpl$
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* Second Life Viewer Source Code
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* Copyright (C) 2010, Linden Research, Inc.
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation;
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* version 2.1 of the License only.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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* Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA
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* $/LicenseInfo$
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*/
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#ifndef LL_QUATERNION2_H
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#define LL_QUATERNION2_H
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/////////////////////////////
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// LLQuaternion2
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/////////////////////////////
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// This class stores a quaternion x*i + y*j + z*k + w in <x, y, z, w> order
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// (i.e., w in high order element of vector)
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/////////////////////////////
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/////////////////////////////
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// These classes are intentionally minimal right now. If you need additional
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// functionality, please contact someone with SSE experience (e.g., Falcon or
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// Huseby).
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/////////////////////////////
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#include "llquaternion.h"
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LL_ALIGN_PREFIX(16)
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class LLQuaternion2
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{
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public:
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//////////////////////////
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// Ctors
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//////////////////////////
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// Ctor
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LLQuaternion2() = default;
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// Ctor from LLQuaternion
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explicit LLQuaternion2( const class LLQuaternion& quat );
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//////////////////////////
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// Get/Set
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//////////////////////////
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// Load from an LLQuaternion
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inline void operator=( const LLQuaternion& quat )
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{
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mQ.loadua( quat.mQ );
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}
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// Return the internal LLVector4a representation of the quaternion
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inline const LLVector4a& getVector4a() const;
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inline LLVector4a& getVector4aRw();
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/////////////////////////
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// Quaternion modification
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/////////////////////////
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// Set this quaternion to the conjugate of src
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inline void setConjugate(const LLQuaternion2& src);
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// Renormalizes the quaternion. Assumes it has nonzero length.
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inline void normalize();
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// Quantize this quaternion to 8 bit precision
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inline void quantize8();
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// Quantize this quaternion to 16 bit precision
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inline void quantize16();
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inline void mul(const LLQuaternion2& b);
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/////////////////////////
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// Quaternion inspection
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/////////////////////////
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// Return true if this quaternion is equal to 'rhs'.
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// Note! Quaternions exhibit "double-cover", so any rotation has two equally valid
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// quaternion representations and they will NOT compare equal.
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inline bool equals(const LLQuaternion2& rhs, F32 tolerance = F_APPROXIMATELY_ZERO ) const;
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// Return true if all components are finite and the quaternion is normalized
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inline bool isOkRotation() const;
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protected:
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LL_ALIGN_16(LLVector4a mQ);
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} LL_ALIGN_POSTFIX(16);
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#if !defined(LL_DEBUG)
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static_assert(std::is_trivial<LLQuaternion2>::value, "LLQuaternion2 must be a trivial type");
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static_assert(std::is_standard_layout<LLQuaternion2>::value, "LLQuaternion2 must be a standard layout type");
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#endif
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#endif
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