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/**
* @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
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