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Comparing trunk/src/math/Quaternion.hpp (file contents):
Revision 110 by tim, Tue Oct 19 21:28:55 2004 UTC vs.
Revision 385 by tim, Tue Mar 1 20:10:14 2005 UTC

# Line 1 | Line 1
1 < /*
2 < * Copyright (C) 2000-2004  Object Oriented Parallel Simulation Engine (OOPSE) project
3 < *
4 < * Contact: oopse@oopse.org
5 < *
6 < * This program is free software; you can redistribute it and/or
7 < * modify it under the terms of the GNU Lesser General Public License
8 < * as published by the Free Software Foundation; either version 2.1
9 < * of the License, or (at your option) any later version.
10 < * All we ask is that proper credit is given for our work, which includes
11 < * - but is not limited to - adding the above copyright notice to the beginning
12 < * of your source code files, and to any copyright notice that you may distribute
13 < * with programs based on this work.
14 < *
15 < * This program is distributed in the hope that it will be useful,
16 < * but WITHOUT ANY WARRANTY; without even the implied warranty of
17 < * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
18 < * GNU Lesser General Public License for more details.
19 < *
20 < * You should have received a copy of the GNU Lesser General Public License
21 < * along with this program; if not, write to the Free Software
22 < * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
1 > /*
2 > * Copyright (c) 2005 The University of Notre Dame. All Rights Reserved.
3   *
4 + * The University of Notre Dame grants you ("Licensee") a
5 + * non-exclusive, royalty free, license to use, modify and
6 + * redistribute this software in source and binary code form, provided
7 + * that the following conditions are met:
8 + *
9 + * 1. Acknowledgement of the program authors must be made in any
10 + *    publication of scientific results based in part on use of the
11 + *    program.  An acceptable form of acknowledgement is citation of
12 + *    the article in which the program was described (Matthew
13 + *    A. Meineke, Charles F. Vardeman II, Teng Lin, Christopher
14 + *    J. Fennell and J. Daniel Gezelter, "OOPSE: An Object-Oriented
15 + *    Parallel Simulation Engine for Molecular Dynamics,"
16 + *    J. Comput. Chem. 26, pp. 252-271 (2005))
17 + *
18 + * 2. Redistributions of source code must retain the above copyright
19 + *    notice, this list of conditions and the following disclaimer.
20 + *
21 + * 3. Redistributions in binary form must reproduce the above copyright
22 + *    notice, this list of conditions and the following disclaimer in the
23 + *    documentation and/or other materials provided with the
24 + *    distribution.
25 + *
26 + * This software is provided "AS IS," without a warranty of any
27 + * kind. All express or implied conditions, representations and
28 + * warranties, including any implied warranty of merchantability,
29 + * fitness for a particular purpose or non-infringement, are hereby
30 + * excluded.  The University of Notre Dame and its licensors shall not
31 + * be liable for any damages suffered by licensee as a result of
32 + * using, modifying or distributing the software or its
33 + * derivatives. In no event will the University of Notre Dame or its
34 + * licensors be liable for any lost revenue, profit or data, or for
35 + * direct, indirect, special, consequential, incidental or punitive
36 + * damages, however caused and regardless of the theory of liability,
37 + * arising out of the use of or inability to use software, even if the
38 + * University of Notre Dame has been advised of the possibility of
39 + * such damages.
40   */
41 <
41 >
42   /**
43   * @file Quaternion.hpp
44   * @author Teng Lin
# Line 53 | Line 69 | namespace oopse{
69  
70              /** Constructs and initializes a Quaternion from w, x, y, z values */    
71              Quaternion(Real w, Real x, Real y, Real z) {
72 <                data_[0] = w;
73 <                data_[1] = x;
74 <                data_[2] = y;
75 <                data_[3] = z;                
72 >                this->data_[0] = w;
73 >                this->data_[1] = x;
74 >                this->data_[2] = y;
75 >                this->data_[3] = z;                
76              }
77              
78              /** Constructs and initializes a Quaternion from a  Vector<Real,4> */    
# Line 79 | Line 95 | namespace oopse{
95               * @return the value of the first element of this quaternion
96               */
97              Real w() const {
98 <                return data_[0];
98 >                return this->data_[0];
99              }
100  
101              /**
# Line 87 | Line 103 | namespace oopse{
103               * @return the reference of the first element of this quaternion
104               */
105              Real& w() {
106 <                return data_[0];    
106 >                return this->data_[0];    
107              }
108  
109              /**
# Line 95 | Line 111 | namespace oopse{
111               * @return the value of the first element of this quaternion
112               */
113              Real x() const {
114 <                return data_[1];
114 >                return this->data_[1];
115              }
116  
117              /**
# Line 103 | Line 119 | namespace oopse{
119               * @return the reference of the second element of this quaternion
120               */
121              Real& x() {
122 <                return data_[1];    
122 >                return this->data_[1];    
123              }
124  
125              /**
# Line 111 | Line 127 | namespace oopse{
127               * @return the value of the third element of this quaternion
128               */
129              Real y() const {
130 <                return data_[2];
130 >                return this->data_[2];
131              }
132  
133              /**
# Line 119 | Line 135 | namespace oopse{
135               * @return the reference of the third element of this quaternion
136               */          
137              Real& y() {
138 <                return data_[2];    
138 >                return this->data_[2];    
139              }
140  
141              /**
# Line 127 | Line 143 | namespace oopse{
143               * @return the value of the fourth element of this quaternion
144               */
145              Real z() const {
146 <                return data_[3];
146 >                return this->data_[3];
147              }
148              /**
149               * Returns the reference of the fourth element of this quaternion.
150               * @return the reference of the fourth element of this quaternion
151               */
152              Real& z() {
153 <                return data_[3];    
153 >                return this->data_[3];    
154              }
155  
156              /**
# Line 145 | Line 161 | namespace oopse{
161               inline bool operator ==(const Quaternion<Real>& q) {
162  
163                  for (unsigned int i = 0; i < 4; i ++) {
164 <                    if (!equal(data_[i], q[i])) {
164 >                    if (!equal(this->data_[i], q[i])) {
165                          return false;
166                      }
167                  }
# Line 178 | Line 194 | namespace oopse{
194              void mul(const Quaternion<Real>& q) {
195                  Quaternion<Real> tmp(*this);
196  
197 <                data_[0] = (tmp[0]*q[0]) -(tmp[1]*q[1]) - (tmp[2]*q[2]) - (tmp[3]*q[3]);
198 <                data_[1] = (tmp[0]*q[1]) + (tmp[1]*q[0]) + (tmp[2]*q[3]) - (tmp[3]*q[2]);
199 <                data_[2] = (tmp[0]*q[2]) + (tmp[2]*q[0]) + (tmp[3]*q[1]) - (tmp[1]*q[3]);
200 <                data_[3] = (tmp[0]*q[3]) + (tmp[3]*q[0]) + (tmp[1]*q[2]) - (tmp[2]*q[1]);                
197 >                this->data_[0] = (tmp[0]*q[0]) -(tmp[1]*q[1]) - (tmp[2]*q[2]) - (tmp[3]*q[3]);
198 >                this->data_[1] = (tmp[0]*q[1]) + (tmp[1]*q[0]) + (tmp[2]*q[3]) - (tmp[3]*q[2]);
199 >                this->data_[2] = (tmp[0]*q[2]) + (tmp[2]*q[0]) + (tmp[3]*q[1]) - (tmp[1]*q[3]);
200 >                this->data_[3] = (tmp[0]*q[3]) + (tmp[3]*q[0]) + (tmp[1]*q[2]) - (tmp[2]*q[1]);                
201              }
202  
203              void mul(const Real& s) {
204 <                data_[0] *= s;
205 <                data_[1] *= s;
206 <                data_[2] *= s;
207 <                data_[3] *= s;
204 >                this->data_[0] *= s;
205 >                this->data_[1] *= s;
206 >                this->data_[2] *= s;
207 >                this->data_[3] *= s;
208              }
209  
210              /** Set the value of this quaternion to the division of itself by another quaternion */
# Line 197 | Line 213 | namespace oopse{
213              }
214  
215              void div(const Real& s) {
216 <                data_[0] /= s;
217 <                data_[1] /= s;
218 <                data_[2] /= s;
219 <                data_[3] /= s;
216 >                this->data_[0] /= s;
217 >                this->data_[1] /= s;
218 >                this->data_[2] /= s;
219 >                this->data_[3] /= s;
220              }
221              
222              Quaternion<Real>& operator *=(const Quaternion<Real>& q) {
# Line 242 | Line 258 | namespace oopse{
258                  Real y2;
259                  Real z2;
260  
261 <                if (!isNormalized())
262 <                    normalize();
261 >                if (!this->isNormalized())
262 >                    this->normalize();
263                  
264                  w2 = w() * w();
265                  x2 = x() * x();

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