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[FrontAlgorithms.git] / appli / TempAirwaysAppli / MathLib / Quaternion.cpp

diff --git a/appli/TempAirwaysAppli/MathLib/Quaternion.cpp b/appli/TempAirwaysAppli/MathLib/Quaternion.cpp
deleted file mode 100644 (file)
index 6beaa48..0000000
--- a/appli/TempAirwaysAppli/MathLib/Quaternion.cpp
+++ /dev/null
@@ -1,168 +0,0 @@
-//----------------------------------------------------------------------------
-// Class definition include
-//----------------------------------------------------------------------------
-
-#include "Quaternion.h"
-
-//----------------------------------------------------------------------------
-// Class implementation
-//----------------------------------------------------------------------------
-//----------------------------------------------------------------------------
-// Builder
-//----------------------------------------------------------------------------
-
-Quaternion::Quaternion( )
-{
-       theta = 0.0;
-       w = Vec3(0,0,0);
-       r = cos(theta/2);
-       double sinHalfTheta = sin(theta/2);
-       im = w*sinHalfTheta;
-}
-
-Quaternion::Quaternion(Vec3 v1, Vec3 v2)
-{
-       // Normalize the vectors
-       v1.Normalize();
-       v2.Normalize();
-
-       // Dot product
-       float cosTheta = v1.Dot(v2);
-       theta = acos(cosTheta);
-
-       // Cross product
-       w = v1.Cross(v2);
-
-       // Normalization
-       w.Normalize();
-
-       // Build the quaternion
-       r = cos(theta/2);
-       double sinHalfTheta = sin(theta/2);
-       im = w*sinHalfTheta;
-}
-
-Quaternion::Quaternion(float nTheta, Vec3 nW)
-{
-       theta = nTheta;
-       w = nW;
-       w.Normalize();
-
-       // Build the quaternion
-       r = cos(theta/2);
-       double sinHalfTheta = sin(theta/2);
-       im = w*sinHalfTheta;
-}
-
-Quaternion::Quaternion(float nR, float nI, float nJ, float nK)
-{
-       r = nR;
-       im = Vec3(nI, nJ, nK);
-
-       theta = 2*acos(r);
-       double sinHalfTheta = sin(theta/2);
-       w = im/sinHalfTheta;
-}
-
-//----------------------------------------------------------------------------
-// Destructor
-//----------------------------------------------------------------------------
-
-Quaternion::~Quaternion( )
-{
-
-}
-//----------------------------------------------------------------------------
-// Methods
-//----------------------------------------------------------------------------
-
-float Quaternion::getR()
-{
-       return r;
-}
-
-float Quaternion::getI()
-{
-       return w[0];
-}
-
-float Quaternion::getJ()
-{
-       return w[1];
-}
-
-float Quaternion::getK()
-{
-       return w[2];
-}
-
-Vec3 Quaternion::getW()
-{
-       return w;
-}
-
-Quaternion Quaternion::conjugate( )
-{
-       return Quaternion(theta, -w);
-}
-
-Vec3 Quaternion::rotateVector(Vec3 vector)
-{
-       // Quaterion representing the vector
-       vector.Normalize();
-       Quaternion qv(0,vector[0],vector[1],vector[2]);
-       Quaternion qthis(r,im[0],im[1],im[2]);
-       Quaternion qthis_conj = qthis.conjugate();
-
-
-       cout << "Qv: [" << qv << "]" << endl;
-       cout << "Qthis: [" << qthis << "]" << endl;
-       cout << "QthisConj: [" << qthis_conj << "]" << endl;
-
-       // Final quaternion
-       Quaternion Qtemp = qthis*qv;
-       cout << "Qtemp: [" << Qtemp << "]" << endl;
-
-       Quaternion qf = Qtemp*qthis_conj;
-
-       cout << "Qf: [" << qf << "]" << endl;
-
-       return qf.im;
-       //return Vec3(0,0,0);
-}
-
-//----------------------------------------------------------------------------
-// Operators
-//----------------------------------------------------------------------------
-
-const float& Quaternion::operator[](unsigned int i) const
-{
-       return (i == 0 ? r : (im)[i-1]);
-}
-
-Quaternion Quaternion::operator*(Quaternion q)
-{
-       float a1 = this->r;
-       float b1 = this->w[0];
-       float c1 = this->w[1];
-       float d1 = this->w[2];
-
-       float a2 = q.r;
-       float b2 = q.w[0];
-       float c2 = q.w[1];
-       float d2 = q.w[2];
-
-       float r_n = a1*a2 - b1*b2 - c1*c2 - d1*d2;
-       float i_n = a1*b2 + a2*b1 + c1*d2 - c2*d1;
-       float j_n = a1*c2 - b1*d2 + a2*c1 + b2*d1;
-       float k_n = a1*d2 + b1*c2 - b2*c1 + a2*d1;
-
-       return Quaternion(r_n, i_n, j_n, k_n);
-}
-
-std::ostream& operator<<(std::ostream& os, const Quaternion& q)
-{
-       os << q[0] << " " << q[1] << " " << q[2] << " " << q[3];
-       os << " " <<q.theta*180/M_PI << " " << q.w;
-       return os;
-}