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License statement text corrected; compiler warnings caused by Bison 2.41 disabled for MSVC; a few other compiler warnings on 54-bit Windows eliminated by appropriate type cast Wrong license statements corrected in several files. Copyright and license statements added in XSD and GLSL files. Copyright year updated in some files. Obsolete documentation files removed from DrawResources.
217 lines
7.9 KiB
Plaintext
217 lines
7.9 KiB
Plaintext
-- Created on: 2010-05-11
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-- Created by: Kirill GAVRILOV
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-- Copyright (c) 2010-2014 OPEN CASCADE SAS
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--
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-- This file is part of Open CASCADE Technology software library.
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--
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-- This library is free software; you can redistribute it and/or modify it under
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-- the terms of the GNU Lesser General Public License version 2.1 as published
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-- by the Free Software Foundation, with special exception defined in the file
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-- OCCT_LGPL_EXCEPTION.txt. Consult the file LICENSE_LGPL_21.txt included in OCCT
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-- distribution for complete text of the license and disclaimer of any warranty.
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--
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-- Alternatively, this file may be used under the terms of Open CASCADE
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-- commercial license or contractual agreement.
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class Quaternion from gp
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---Purpose: Represents operation of rotation in 3d space as queternion
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-- and implements operations with rotations basing on
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-- quaternion mathematics.
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--
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-- In addition, provides methods for conversion to and from other
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-- representatons of rotation (3*3 matrix, vector and
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-- angle, Euler angles)
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uses
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Vec from gp,
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Mat from gp,
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EulerSequence from gp
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is
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Create returns Quaternion from gp;
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---Purpose: Creates an identity quaternion
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---C++: inline
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Create (x, y, z, w: Real)
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returns Quaternion from gp;
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---Purpose: Creates quaternion directly from component values
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Create (theToCopy: Quaternion from gp)
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returns Quaternion from gp;
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---Purpose: Creates copy of another quaternion
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Create (theVecFrom, theVecTo: Vec from gp)
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returns Quaternion from gp;
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---Purpose: Creates quaternion representing shortest-arc rotation
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-- operator producing vector theVecTo from vector theVecFrom.
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Create (theVecFrom, theVecTo, theHelpCrossVec: Vec from gp)
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returns Quaternion from gp;
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---Purpose: Creates quaternion representing shortest-arc rotation
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-- operator producing vector theVecTo from vector theVecFrom.
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-- Additional vector theHelpCrossVec defines preferred direction for
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-- rotation and is used when theVecTo and theVecFrom are directed
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-- oppositely.
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Create (theAxis: Vec from gp; theAngle: Real)
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returns Quaternion from gp;
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---Purpose: Creates quaternion representing rotation on angle
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-- theAngle around vector theAxis
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Create (theMat: Mat from gp)
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returns Quaternion from gp;
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---Purpose: Creates quaternion from rotation matrix 3*3
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-- (which should be orthonormal skew-symmetric matrix)
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IsEqual (me; theOther: Quaternion from gp) returns Boolean;
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---Purpose: Simple equal test without precision
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SetRotation (me: in out; theVecFrom, theVecTo: Vec from gp);
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---Purpose: Sets quaternion to shortest-arc rotation producing
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-- vector theVecTo from vector theVecFrom.
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-- If vectors theVecFrom and theVecTo are opposite then rotation
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-- axis is computed as theVecFrom ^ (1,0,0) or theVecFrom ^ (0,0,1).
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SetRotation (me: in out; theVecFrom, theVecTo, theHelpCrossVec: Vec from gp);
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---Purpose: Sets quaternion to shortest-arc rotation producing
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-- vector theVecTo from vector theVecFrom.
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-- If vectors theVecFrom and theVecTo are opposite then rotation
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-- axis is computed as theVecFrom ^ theHelpCrossVec.
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SetVectorAndAngle (me: in out; theAxis: Vec from gp; theAngle: Real);
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---Purpose: Create a unit quaternion from Axis+Angle representation
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GetVectorAndAngle (me; theAxis: out Vec from gp; theAngle: out Real);
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---Purpose: Convert a quaternion to Axis+Angle representation,
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-- preserve the axis direction and angle from -PI to +PI
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SetMatrix (me: in out; theMat: Mat from gp);
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---Purpose: Create a unit quaternion by rotation matrix
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-- matrix must contain only rotation (not scale or shear)
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--
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-- For numerical stability we find first the greatest component of quaternion
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-- and than search others from this one
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GetMatrix (me) returns Mat from gp;
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---Purpose: Returns rotation operation as 3*3 matrix
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SetEulerAngles (me: in out; theOrder: EulerSequence from gp;
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theAlpha, theBeta, theGamma: Real);
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---Purpose: Create a unit quaternion representing rotation defined
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-- by generalized Euler angles
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GetEulerAngles (me; theOrder: EulerSequence from gp;
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theAlpha, theBeta, theGamma: out Real);
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---Purpose: Returns Euler angles describing current rotation
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Set (me: in out; x, y, z, w: Real);
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Set (me: in out; theQuaternion: Quaternion from gp);
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X (me) returns Real;
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Y (me) returns Real;
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Z (me) returns Real;
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W (me) returns Real;
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SetIdent (me: in out);
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---Purpose: Make identity quaternion (zero-rotation)
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Reverse (me: in out);
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---Purpose: Reverse direction of rotation (conjugate quaternion)
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Reversed (me) returns Quaternion from gp;
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---Purpose: Return rotation with reversed direction (conjugated quaternion)
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Invert (me: in out);
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---Purpose: Inverts quaternion (both rotation direction and norm)
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Inverted (me) returns Quaternion from gp;
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---Purpose: Return inversed quaternion q^-1
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SquareNorm (me) returns Real;
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---Purpose: Returns square norm of quaternion
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Norm (me) returns Real;
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---Purpose: Returns norm of quaternion
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Scale (me: in out; theScale: Real);
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---Purpose: Scale all components by quaternion by theScale; note that
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-- rotation is not changed by this operation (except 0-scaling)
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---C++: alias operator *=
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Scaled (me; theScale: Real) returns Quaternion from gp;
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---Purpose: Returns scaled quaternion
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---C++: alias operator *
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StabilizeLength (me: in out);
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---Purpose: Stabilize quaternion length within 1 - 1/4.
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-- This operation is a lot faster than normalization
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-- and preserve length goes to 0 or infinity
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Normalize (me: in out);
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---Purpose: Scale quaternion that its norm goes to 1.
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-- The appearing of 0 magnitude or near is a error,
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-- so we can be sure that can divide by magnitude
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Normalized (me) returns Quaternion from gp;
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---Purpose: Returns quaternion scaled so that its norm goes to 1.
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Negated (me) returns Quaternion from gp;
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---Purpose: Returns quaternion with all components negated.
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-- Note that this operation does not affect neither
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-- rotation operator defined by quaternion nor its norm.
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---C++: alias operator -
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Added (me; theOther: Quaternion from gp) returns Quaternion from gp;
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---Purpose: Makes sum of quaternion components; result is "rotations mix"
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---C++: alias operator +
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Subtracted (me; theOther: Quaternion from gp) returns Quaternion from gp;
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---Purpose: Makes difference of quaternion components; result is "rotations mix"
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---C++: alias operator -
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Multiplied (me; theOther: Quaternion from gp) returns Quaternion from gp;
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---Purpose: Multiply function - work the same as Matrices multiplying.
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-- qq' = (cross(v,v') + wv' + w'v, ww' - dot(v,v'))
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-- Result is rotation combination: q' than q (here q=this, q'=theQ).
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-- Notices than:
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-- qq' != q'q;
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-- qq^-1 = q;
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---C++: alias operator *
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Add (me: in out; theOther: Quaternion from gp);
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---Purpose: Adds componnets of other quaternion; result is "rotations mix"
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---C++: alias operator +=
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Subtract (me: in out; theOther: Quaternion from gp);
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---Purpose: Subtracts componnets of other quaternion; result is "rotations mix"
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---C++: alias operator -=
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Multiply (me: in out; theOther: Quaternion from gp);
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---Purpose: Adds rotation by multiplication
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---C++: alias operator *=
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Dot (me; theOther: Quaternion from gp) returns Real;
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---Purpose: Computes inner product / scalar product / Dot
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GetRotationAngle (me) returns Real;
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---Purpose: Return rotation angle from -PI to PI
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Multiply (me; theVec: Vec from gp) returns Vec from gp;
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---Purpose: Rotates vector by quaternion as rotation operator
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---C++: alias operator *
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fields
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x: Real;
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y: Real;
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z: Real;
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w: Real;
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end;
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