/** * @file llquaternion2.h * @brief LLQuaternion2 class header file - SIMD-enabled quaternion class * * $LicenseInfo:firstyear=2010&license=viewerlgpl$ * Second Life Viewer Source Code * Copyright (C) 2010, Linden Research, Inc. * * 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; * version 2.1 of the License only. * * 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA * * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA * $/LicenseInfo$ */ #ifndef LL_QUATERNION2_H #define LL_QUATERNION2_H ///////////////////////////// // LLQuaternion2 ///////////////////////////// // This class stores a quaternion x*i + y*j + z*k + w in <x, y, z, w> order // (i.e., w in high order element of vector) ///////////////////////////// ///////////////////////////// // These classes are intentionally minimal right now. If you need additional // functionality, please contact someone with SSE experience (e.g., Falcon or // Huseby). ///////////////////////////// #include "llquaternion.h" class LLQuaternion2 { public: ////////////////////////// // Ctors ////////////////////////// // Ctor LLQuaternion2() {} // Ctor from LLQuaternion explicit LLQuaternion2( const class LLQuaternion& quat ); ////////////////////////// // Get/Set ////////////////////////// // Load from an LLQuaternion inline void operator=( const LLQuaternion& quat ) { mQ.loadua( quat.mQ ); } // Return the internal LLVector4a representation of the quaternion inline const LLVector4a& getVector4a() const; inline LLVector4a& getVector4aRw(); ///////////////////////// // Quaternion modification ///////////////////////// // Set this quaternion to the conjugate of src inline void setConjugate(const LLQuaternion2& src); // Renormalizes the quaternion. Assumes it has nonzero length. inline void normalize(); // Quantize this quaternion to 8 bit precision inline void quantize8(); // Quantize this quaternion to 16 bit precision inline void quantize16(); ///////////////////////// // Quaternion inspection ///////////////////////// // Return true if this quaternion is equal to 'rhs'. // Note! Quaternions exhibit "double-cover", so any rotation has two equally valid // quaternion representations and they will NOT compare equal. inline bool equals(const LLQuaternion2& rhs, F32 tolerance = F_APPROXIMATELY_ZERO ) const; // Return true if all components are finite and the quaternion is normalized inline bool isOkRotation() const; protected: LLVector4a mQ; }; #endif