llquaternion2.h

/** 
 * @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