do ass1submission-p1.0

1 files changed, 142 insertions, 142 deletions

diff --git a/dev/MinGfx/src/quaternion.h b/dev/MinGfx/src/quaternion.h
index fc69ba7..dffbe7e 100644
--- a/dev/MinGfx/src/quaternion.h
+++ b/dev/MinGfx/src/quaternion.h
@@ -1,142 +1,142 @@
-/*
- This file is part of the MinGfx Project.
- 
- Copyright (c) 2017,2018 Regents of the University of Minnesota.
- All Rights Reserved.
- 
- Original Author(s) of this File:
-	Dan Keefe, 2018, University of Minnesota
-	
- Author(s) of Significant Updates/Modifications to the File:
-	...
- */
-
-#ifndef SRC_QUATERNION_H_
-#define SRC_QUATERNION_H_
-
-#include <iostream>
-
-#include "vector3.h"
-
-namespace mingfx {
-
-/** A quaternion to represent rotations in 3D space.  The main use of quaternions
- within the library is to support smooth interpolation between rotations, since
- this is not possible using Euler angles or rotation matrices.  The class includes
- a Slerp routine for spherical interpolation between rotations.  Example use:
- ~~~
- // find a rotation 1/2 way between r1 and r2, both originally expressed in Euler angles
- 
- Vector3 euler1 = GfxMath::ToRadians(Vector3(0,0,60));
- Vector3 euler2 = GfxMath::ToRadians(Vector3(45,45,60));
- 
- Quaternion q1 = Quaternion::FromEulerAnglesZYX(euler1);
- Quaternion q2 = Quaternion::FromEulerAnglesZYX(euler2);
-
- float alpha = 0.5;
- Quaternion q_half_way = q1.Slerp(q2, alpha);
- Vector3 new_euler_angles = GfxMath::ToDegrees(q_half_way.ToEulerAnglesZYX());
- ~~~
- */
-class Quaternion {
-public:
-    /// Creates a quat with the identity rotation
-    Quaternion();
-
-    /// Creates a quat from the 4 parameters
-    Quaternion(float qx, float qy, float qz, float qw);
-    
-    /// Creates a quate from a pointer to 4 floating point numbers in the order
-    /// qx, qy, qz, qw.
-    Quaternion(float *ptr);
-
-    /// Copy constructor
-    Quaternion(const Quaternion& other);
-    
-    virtual ~Quaternion();
-    
-    /// Check for "equality", taking floating point imprecision into account
-    bool operator==(const Quaternion& q) const;
-    
-    /// Check for "inequality", taking floating point imprecision into account
-    bool operator!=(const Quaternion& q) const;
-    
-    /// Assignment operator
-    Quaternion& operator=(const Quaternion& q);
-    
-    /// Read only access to the ith coordinate of the quaternion (qx, qy, qz, qw).
-    float operator[](const int i) const;
-    
-    /// Writable access the ith coordinate of the quaternion (qx, qy, qz, qw).
-    float& operator[](const int i);
-    
-    /// Read only access to the x coordinate of the imaginary part of the quaternion.
-    float x() const { return q[0]; }
-
-    /// Read only access to the y coordinate of the imaginary part of the quaternion.
-    float y() const { return q[1]; }
-    
-    /// Read only access to the z coordinate of the imaginary part of the quaternion.
-    float z() const { return q[2]; }
-
-    /// Read only access to the w, real part, of the quaternion.
-    float w() const { return q[3]; }
-    
-    /// Returns a const pointer to the raw data array, stored in the order qx, qy, qz, qw.
-    const float * value_ptr() const;
-
-    /// Returns the dot product of this quaternion with another.
-    float Dot(const Quaternion& q) const;
-
-    /// Returns the length of the quaternion.
-    float Length() const;
-    
-    /// Normalizes the quat by making it unit length.
-    void Normalize();
-    
-    /// Returns a normalized (i.e., unit length) version of the quaternion without
-    /// modifying the original.
-    Quaternion ToUnit() const;
-    
-    /// Returns the conjugate of the quaternion.
-    Quaternion Conjugate() const;
-    
-    /// Converts the rotation specified by the quaternion into Euler angles.
-    Vector3 ToEulerAnglesZYX() const;
-
-    /// Uses spherical interpolation to interpoloate between the rotation stored
-    /// in this quaternion and the rotation stored in another.
-    Quaternion Slerp(const Quaternion &other, float alpha) const;
-
-    /// Creates a new quaternion that describes a rotation by angle radians about
-    // the specified axis.
-    static Quaternion FromAxisAngle(const Vector3 &axis, float angle);
-    
-    /// Creates a new quaternion from a rotation defined in Euler angles.
-    static Quaternion FromEulerAnglesZYX(const Vector3 &angles);
-    
-    /// Uses spherical interpolation to interpoloate between the rotations
-    /// specified by two quaternions.
-    static Quaternion Slerp(const Quaternion &a, const Quaternion &b, float alpha);
-    
-private:
-    float q[4];
-};
-
-
-Quaternion operator*(const Quaternion& q1, const Quaternion& q2);
-Quaternion operator/(const Quaternion& q, const float s);
-Quaternion operator*(const float s, const Quaternion& q);
-Quaternion operator*(const Quaternion& q, const float s);
-Quaternion operator-(const Quaternion& q);
-Quaternion operator+(const Quaternion& q1, const Quaternion& q2);
-Quaternion operator-(const Quaternion& q1, const Quaternion& q2);
-
-std::ostream & operator<< ( std::ostream &os, const Quaternion &q);
-std::istream & operator>> ( std::istream &is, Quaternion &q);
-
-    
-} // end namespace
-
-
-#endif
+/*

+ This file is part of the MinGfx Project.

+ 

+ Copyright (c) 2017,2018 Regents of the University of Minnesota.

+ All Rights Reserved.

+ 

+ Original Author(s) of this File:

+	Dan Keefe, 2018, University of Minnesota

+	

+ Author(s) of Significant Updates/Modifications to the File:

+	...

+ */

+

+#ifndef SRC_QUATERNION_H_

+#define SRC_QUATERNION_H_

+

+#include <iostream>

+

+#include "vector3.h"

+

+namespace mingfx {

+

+/** A quaternion to represent rotations in 3D space.  The main use of quaternions

+ within the library is to support smooth interpolation between rotations, since

+ this is not possible using Euler angles or rotation matrices.  The class includes

+ a Slerp routine for spherical interpolation between rotations.  Example use:

+ ~~~

+ // find a rotation 1/2 way between r1 and r2, both originally expressed in Euler angles

+ 

+ Vector3 euler1 = GfxMath::ToRadians(Vector3(0,0,60));

+ Vector3 euler2 = GfxMath::ToRadians(Vector3(45,45,60));

+ 

+ Quaternion q1 = Quaternion::FromEulerAnglesZYX(euler1);

+ Quaternion q2 = Quaternion::FromEulerAnglesZYX(euler2);

+

+ float alpha = 0.5;

+ Quaternion q_half_way = q1.Slerp(q2, alpha);

+ Vector3 new_euler_angles = GfxMath::ToDegrees(q_half_way.ToEulerAnglesZYX());

+ ~~~

+ */

+class Quaternion {

+public:

+    /// Creates a quat with the identity rotation

+    Quaternion();

+

+    /// Creates a quat from the 4 parameters

+    Quaternion(float qx, float qy, float qz, float qw);

+    

+    /// Creates a quate from a pointer to 4 floating point numbers in the order

+    /// qx, qy, qz, qw.

+    Quaternion(float *ptr);

+

+    /// Copy constructor

+    Quaternion(const Quaternion& other);

+    

+    virtual ~Quaternion();

+    

+    /// Check for "equality", taking floating point imprecision into account

+    bool operator==(const Quaternion& q) const;

+    

+    /// Check for "inequality", taking floating point imprecision into account

+    bool operator!=(const Quaternion& q) const;

+    

+    /// Assignment operator

+    Quaternion& operator=(const Quaternion& q);

+    

+    /// Read only access to the ith coordinate of the quaternion (qx, qy, qz, qw).

+    float operator[](const int i) const;

+    

+    /// Writable access the ith coordinate of the quaternion (qx, qy, qz, qw).

+    float& operator[](const int i);

+    

+    /// Read only access to the x coordinate of the imaginary part of the quaternion.

+    float x() const { return q[0]; }

+

+    /// Read only access to the y coordinate of the imaginary part of the quaternion.

+    float y() const { return q[1]; }

+    

+    /// Read only access to the z coordinate of the imaginary part of the quaternion.

+    float z() const { return q[2]; }

+

+    /// Read only access to the w, real part, of the quaternion.

+    float w() const { return q[3]; }

+    

+    /// Returns a const pointer to the raw data array, stored in the order qx, qy, qz, qw.

+    const float * value_ptr() const;

+

+    /// Returns the dot product of this quaternion with another.

+    float Dot(const Quaternion& q) const;

+

+    /// Returns the length of the quaternion.

+    float Length() const;

+    

+    /// Normalizes the quat by making it unit length.

+    void Normalize();

+    

+    /// Returns a normalized (i.e., unit length) version of the quaternion without

+    /// modifying the original.

+    Quaternion ToUnit() const;

+    

+    /// Returns the conjugate of the quaternion.

+    Quaternion Conjugate() const;

+    

+    /// Converts the rotation specified by the quaternion into Euler angles.

+    Vector3 ToEulerAnglesZYX() const;

+

+    /// Uses spherical interpolation to interpoloate between the rotation stored

+    /// in this quaternion and the rotation stored in another.

+    Quaternion Slerp(const Quaternion &other, float alpha) const;

+

+    /// Creates a new quaternion that describes a rotation by angle radians about

+    // the specified axis.

+    static Quaternion FromAxisAngle(const Vector3 &axis, float angle);

+    

+    /// Creates a new quaternion from a rotation defined in Euler angles.

+    static Quaternion FromEulerAnglesZYX(const Vector3 &angles);

+    

+    /// Uses spherical interpolation to interpoloate between the rotations

+    /// specified by two quaternions.

+    static Quaternion Slerp(const Quaternion &a, const Quaternion &b, float alpha);

+    

+private:

+    float q[4];

+};

+

+

+Quaternion operator*(const Quaternion& q1, const Quaternion& q2);

+Quaternion operator/(const Quaternion& q, const float s);

+Quaternion operator*(const float s, const Quaternion& q);

+Quaternion operator*(const Quaternion& q, const float s);

+Quaternion operator-(const Quaternion& q);

+Quaternion operator+(const Quaternion& q1, const Quaternion& q2);

+Quaternion operator-(const Quaternion& q1, const Quaternion& q2);

+

+std::ostream & operator<< ( std::ostream &os, const Quaternion &q);

+std::istream & operator>> ( std::istream &is, Quaternion &q);

+

+    

+} // end namespace

+

+

+#endif