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79 lines
2.3 KiB
C++
79 lines
2.3 KiB
C++
// Copyright (c) 1999-2012 OPEN CASCADE SAS
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//
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// The content of this file is subject to the Open CASCADE Technology Public
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// License Version 6.5 (the "License"). You may not use the content of this file
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// except in compliance with the License. Please obtain a copy of the License
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// at http://www.opencascade.org and read it completely before using this file.
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//
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// The Initial Developer of the Original Code is Open CASCADE S.A.S., having its
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// main offices at: 1, place des Freres Montgolfier, 78280 Guyancourt, France.
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//
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// The Original Code and all software distributed under the License is
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// distributed on an "AS IS" basis, without warranty of any kind, and the
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// Initial Developer hereby disclaims all such warranties, including without
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// limitation, any warranties of merchantability, fitness for a particular
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// purpose or non-infringement. Please see the License for the specific terms
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// and conditions governing the rights and limitations under the License.
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#ifndef _gp_QuaternionSLerp_HeaderFile
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#define _gp_QuaternionSLerp_HeaderFile
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#include <gp_Quaternion.hxx>
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/**
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* Perform Spherical Linear Interpolation of the quaternions,
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* return unit length quaternion.
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*/
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class gp_QuaternionSLerp
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{
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public:
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gp_QuaternionSLerp() {}
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gp_QuaternionSLerp (const gp_Quaternion& theQStart, const gp_Quaternion& theQEnd)
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{
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Init (theQStart, theQEnd);
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}
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void Init (const gp_Quaternion& theQStart, const gp_Quaternion& theQEnd)
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{
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InitFromUnit (theQStart.Normalized(), theQEnd.Normalized());
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}
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void InitFromUnit (const gp_Quaternion& theQStart, const gp_Quaternion& theQEnd)
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{
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myQStart = theQStart;
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myQEnd = theQEnd;
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Standard_Real cosOmega = myQStart.Dot (myQEnd);
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if (cosOmega < 0.0)
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{
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cosOmega = -cosOmega;
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myQEnd = -myQEnd;
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}
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if (cosOmega > 0.9999)
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{
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cosOmega = 0.9999;
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}
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myOmega = ACos (cosOmega);
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Standard_Real invSinOmega = (1.0 / Sin (myOmega));
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myQStart.Scale (invSinOmega);
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myQEnd.Scale (invSinOmega);
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}
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//! Set interpolated quaternion for theT position (from 0.0 to 1.0)
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void Interpolate (Standard_Real theT, gp_Quaternion& theResultQ) const
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{
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theResultQ = myQStart * Sin((1.0 - theT) * myOmega) + myQEnd * Sin (theT * myOmega);
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}
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private:
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gp_Quaternion myQStart;
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gp_Quaternion myQEnd;
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Standard_Real myOmega;
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};
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#endif //_gp_QuaternionSLerp_HeaderFile
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