2 Copyright (C) 1999-2007 id Software, Inc. and contributors.
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3 For a list of contributors, see the accompanying CONTRIBUTORS file.
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5 This file is part of GtkRadiant.
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7 GtkRadiant is free software; you can redistribute it and/or modify
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8 it under the terms of the GNU General Public License as published by
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9 the Free Software Foundation; either version 2 of the License, or
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10 (at your option) any later version.
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12 GtkRadiant is distributed in the hope that it will be useful,
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13 but WITHOUT ANY WARRANTY; without even the implied warranty of
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14 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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15 GNU General Public License for more details.
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17 You should have received a copy of the GNU General Public License
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18 along with GtkRadiant; if not, write to the Free Software
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19 Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
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22 #ifndef __MATH_QUATERNION_H__
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23 #define __MATH_QUATERNION_H__
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40 quat_t( float x, float y, float z, float w );
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42 friend void toQuat( idVec3_t &src, quat_t &dst );
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43 friend void toQuat( angles_t &src, quat_t &dst );
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44 friend void toQuat( mat3_t &src, quat_t &dst );
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46 float *vec4( void );
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48 float operator[]( int index ) const;
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49 float &operator[]( int index );
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51 void set( float x, float y, float z, float w );
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53 void operator=( quat_t a );
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55 friend quat_t operator+( quat_t a, quat_t b );
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56 quat_t &operator+=( quat_t a );
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58 friend quat_t operator-( quat_t a, quat_t b );
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59 quat_t &operator-=( quat_t a );
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61 friend quat_t operator*( quat_t a, float b );
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62 friend quat_t operator*( float a, quat_t b );
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63 quat_t &operator*=( float a );
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65 friend int operator==( quat_t a, quat_t b );
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66 friend int operator!=( quat_t a, quat_t b );
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68 float Length( void );
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69 quat_t &Normalize( void );
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74 inline quat_t::quat_t() {
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77 inline quat_t::quat_t( float x, float y, float z, float w ) {
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84 inline float *quat_t::vec4( void ) {
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88 inline float quat_t::operator[]( int index ) const {
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89 assert( ( index >= 0 ) && ( index < 4 ) );
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90 return ( &x )[ index ];
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93 inline float& quat_t::operator[]( int index ) {
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94 assert( ( index >= 0 ) && ( index < 4 ) );
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95 return ( &x )[ index ];
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98 inline void quat_t::set( float x, float y, float z, float w ) {
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105 inline void quat_t::operator=( quat_t a ) {
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112 inline quat_t operator+( quat_t a, quat_t b ) {
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113 return quat_t( a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w );
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116 inline quat_t& quat_t::operator+=( quat_t a ) {
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125 inline quat_t operator-( quat_t a, quat_t b ) {
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126 return quat_t( a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w );
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129 inline quat_t& quat_t::operator-=( quat_t a ) {
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138 inline quat_t operator*( quat_t a, float b ) {
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139 return quat_t( a.x * b, a.y * b, a.z * b, a.w * b );
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142 inline quat_t operator*( float a, quat_t b ) {
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146 inline quat_t& quat_t::operator*=( float a ) {
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155 inline int operator==( quat_t a, quat_t b ) {
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156 return ( ( a.x == b.x ) && ( a.y == b.y ) && ( a.z == b.z ) && ( a.w == b.w ) );
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159 inline int operator!=( quat_t a, quat_t b ) {
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160 return ( ( a.x != b.x ) || ( a.y != b.y ) || ( a.z != b.z ) && ( a.w != b.w ) );
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163 inline float quat_t::Length( void ) {
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166 length = x * x + y * y + z * z + w * w;
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167 return ( float )sqrt( length );
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170 inline quat_t& quat_t::Normalize( void ) {
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174 length = this->Length();
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176 ilength = 1 / length;
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186 inline quat_t quat_t::operator-() {
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187 return quat_t( -x, -y, -z, -w );
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190 #endif /* !__MATH_QUATERNION_H__ */
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