quat.h

Go to the documentation of this file.

/*
 *  mathfuncs.h - General mathematic functions header
 *  Copyright (C) 2015, D Haley 

 *  This program is free software: you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation, either version 3 of the License, or
 *  (at your option) any later version.

 *  This program 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 General Public License for more details.

 *  You should have received a copy of the GNU General Public License
 *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef ATOMPROBE_MATHFUNCS_H
#define ATOMPROBE_MATHFUNCS_H

#include <cmath>
#include <limits>
#include <iostream>
#include <vector>
#include <algorithm>

#include <gsl/gsl_matrix.h>

#include "atomprobe/primitives/point3D.h"

namespace AtomProbe
{

typedef struct 
{
    float a; //Real component
    float b;
    float c;
    float d;
} Quaternion;

//TODO: Merge with point3D?
typedef struct
{
    float fx;
    float fy;
    float fz;
} Point3f;

//Uses quaternion mathematics to perform a rotation around your favourite axis
//IMPORTANT: rotVec must be normalised before passing to this function 
//failure to do so will have weird results
//Note result is stored in  point passed as argument
//angle is in radians.

//Inefficient-sh Point3D version

void quat_rot(Point3D &p, const Point3D &r, float angle);


void quat_rot(Point3f *point, const Point3f *rotVec, float angle);


void quat_rot_array(Point3f *point, unsigned int n, const Point3f *rotVec, float angle);


void quat_rot_array(Point3D *point, unsigned int n, const Point3f *rotVec, float angle);



void quat_get_rot_quat(const Point3f *rotVec, float angle,  Quaternion *rotQuat);


void quat_rot_apply_quat(Point3f *point, const Quaternion *rotQuat);


#ifdef DEBUG
bool testMathfuncs();
#endif

}   
#endif