The Quake III Arena sources as originally released under the GPL license on August 20, 2005.

code/splines/math_quaternion.h

@@ -0,0 +1,190 @@
+/*
+===========================================================================
+Copyright (C) 1999-2005 Id Software, Inc.
+
+This file is part of Quake III Arena source code.
+
+Quake III Arena source code is free software; you can redistribute it
+and/or modify it under the terms of the GNU General Public License as
+published by the Free Software Foundation; either version 2 of the License,
+or (at your option) any later version.
+
+Quake III Arena source code 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 General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with Foobar; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+===========================================================================
+*/
+#ifndef __MATH_QUATERNION_H__
+#define __MATH_QUATERNION_H__
+
+#include <assert.h>
+#include <math.h>
+
+class idVec3_t;
+class angles_t;
+class mat3_t;
+
+class quat_t {
+public:
+	float			x;
+	float			y;
+	float			z;
+	float			w;
+
+					quat_t();
+					quat_t( float x, float y, float z, float w );
+
+	friend void		toQuat( idVec3_t &src, quat_t &dst );
+	friend void		toQuat( angles_t &src, quat_t &dst );
+	friend void		toQuat( mat3_t &src, quat_t &dst );
+
+	float			*vec4( void );
+			
+	float			operator[]( int index ) const;
+	float			&operator[]( int index );
+
+	void 			set( float x, float y, float z, float w );
+
+	void			operator=( quat_t a );
+
+	friend quat_t	operator+( quat_t a, quat_t b );
+	quat_t			&operator+=( quat_t a );
+
+	friend quat_t	operator-( quat_t a, quat_t b );
+	quat_t			&operator-=( quat_t a );
+
+	friend quat_t	operator*( quat_t a, float b );
+	friend quat_t	operator*( float a, quat_t b );
+	quat_t			&operator*=( float a );
+
+	friend int		operator==(	quat_t a, quat_t b );
+	friend int		operator!=(	quat_t a, quat_t b );
+
+	float			Length( void );
+	quat_t			&Normalize( void );
+
+	quat_t			operator-();
+};
+
+inline quat_t::quat_t() {
+}
+
+inline quat_t::quat_t( float x, float y, float z, float w ) {
+	this->x = x;
+	this->y = y;
+	this->z = z;
+	this->w = w;
+}
+
+inline float *quat_t::vec4( void ) {
+	return &x;
+}
+
+inline float quat_t::operator[]( int index ) const {
+	assert( ( index >= 0 ) && ( index < 4 ) );
+	return ( &x )[ index ];
+}
+
+inline float& quat_t::operator[]( int index ) {
+	assert( ( index >= 0 ) && ( index < 4 ) );
+	return ( &x )[ index ];
+}
+
+inline void quat_t::set( float x, float y, float z, float w ) {
+	this->x = x;
+	this->y = y;
+	this->z = z;
+	this->w = w;
+}
+
+inline void quat_t::operator=( quat_t a ) {
+	x = a.x;
+	y = a.y;
+	z = a.z;
+	w = a.w;
+}
+
+inline quat_t operator+( quat_t a, quat_t b ) {
+	return quat_t( a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w );
+}
+
+inline quat_t& quat_t::operator+=( quat_t a ) {
+	x += a.x;
+	y += a.y;
+	z += a.z;
+	w += a.w;
+
+	return *this;
+}
+
+inline quat_t operator-( quat_t a, quat_t b ) {
+	return quat_t( a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w );
+}
+
+inline quat_t& quat_t::operator-=( quat_t a ) {
+	x -= a.x;
+	y -= a.y;
+	z -= a.z;
+	w -= a.w;
+
+	return *this;
+}
+
+inline quat_t operator*( quat_t a, float b ) {
+	return quat_t( a.x * b, a.y * b, a.z * b, a.w * b );
+}
+
+inline quat_t operator*( float a, quat_t b ) {
+	return b * a;
+}
+
+inline quat_t& quat_t::operator*=( float a ) {
+	x *= a;
+	y *= a;
+	z *= a;
+	w *= a;
+
+	return *this;
+}
+
+inline int operator==( quat_t a, quat_t b ) {
+	return ( ( a.x == b.x ) && ( a.y == b.y ) && ( a.z == b.z ) && ( a.w == b.w ) );
+}
+
+inline int operator!=( quat_t a, quat_t b ) {
+	return ( ( a.x != b.x ) || ( a.y != b.y ) || ( a.z != b.z ) && ( a.w != b.w ) );
+}
+
+inline float quat_t::Length( void ) {
+	float length;
+	
+	length = x * x + y * y + z * z + w * w;
+	return ( float )sqrt( length );
+}
+
+inline quat_t& quat_t::Normalize( void ) {
+	float length;
+	float ilength;
+
+	length = this->Length();
+	if ( length ) {
+		ilength = 1 / length;
+		x *= ilength;
+		y *= ilength;
+		z *= ilength;
+		w *= ilength;
+	}
+		
+	return *this;
+}
+
+inline quat_t quat_t::operator-() {
+	return quat_t( -x, -y, -z, -w );
+}
+
+#endif /* !__MATH_QUATERNION_H__ */