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/** @file
@brief Header
Must be c-safe!
@date 2014
@author
Sensics, Inc.
<http://sensics.com/osvr>
*/
/*
// Copyright 2014 Sensics, Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
*/
#ifndef INCLUDED_QuaternionC_h_GUID_1470A5FE_8209_41A6_C19E_46077FDF9C66
#define INCLUDED_QuaternionC_h_GUID_1470A5FE_8209_41A6_C19E_46077FDF9C66
/* Internal Includes */
#include <osvr/Util/APIBaseC.h>
/* Library/third-party includes */
/* none */
/* Standard includes */
/* none */
OSVR_EXTERN_C_BEGIN
/** @addtogroup UtilMath
@{
*/
/** @brief A structure defining a quaternion, often a unit quaternion
* representing 3D rotation.
*/
typedef struct OSVR_Quaternion {
/** @brief Internal data - direct access not recommended */
double data[4];
} OSVR_Quaternion;
#define OSVR_QUAT_MEMBER(COMPONENT, INDEX) \
/** @brief Accessor for quaternion component COMPONENT */ \
OSVR_INLINE double osvrQuatGet##COMPONENT(OSVR_Quaternion const *q) { \
return q->data[INDEX]; \
} \
/** @brief Setter for quaternion component COMPONENT */ \
OSVR_INLINE void osvrQuatSet##COMPONENT(OSVR_Quaternion *q, double val) { \
q->data[INDEX] = val; \
}
OSVR_QUAT_MEMBER(W, 0)
OSVR_QUAT_MEMBER(X, 1)
OSVR_QUAT_MEMBER(Y, 2)
OSVR_QUAT_MEMBER(Z, 3)
#undef OSVR_QUAT_MEMBER
/** @brief Set a quaternion to the identity rotation */
OSVR_INLINE void osvrQuatSetIdentity(OSVR_Quaternion *q) {
osvrQuatSetW(q, 1);
osvrQuatSetX(q, 0);
osvrQuatSetY(q, 0);
osvrQuatSetZ(q, 0);
}
/** @} */
OSVR_EXTERN_C_END
#ifdef __cplusplus
template <typename StreamType>
inline StreamType &operator<<(StreamType &os, OSVR_Quaternion const &quat) {
os << "(" << osvrQuatGetW(&quat) << ", (" << osvrQuatGetX(&quat) << ", "
<< osvrQuatGetY(&quat) << ", " << osvrQuatGetZ(&quat) << "))";
return os;
}
#endif
#endif
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