--- trunk/src/math/Quaternion.hpp 2004/10/19 21:28:55 110 +++ trunk/src/math/Quaternion.hpp 2005/03/01 20:10:14 385 @@ -1,28 +1,44 @@ -/* - * Copyright (C) 2000-2004 Object Oriented Parallel Simulation Engine (OOPSE) project - * - * Contact: oopse@oopse.org - * - * This program is free software; you can redistribute it and/or - * modify it under the terms of the GNU Lesser General Public License - * as published by the Free Software Foundation; either version 2.1 - * of the License, or (at your option) any later version. - * All we ask is that proper credit is given for our work, which includes - * - but is not limited to - adding the above copyright notice to the beginning - * of your source code files, and to any copyright notice that you may distribute - * with programs based on this work. - * - * 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 Lesser General Public License for more details. - * - * You should have received a copy of the GNU Lesser General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + /* + * Copyright (c) 2005 The University of Notre Dame. All Rights Reserved. * + * The University of Notre Dame grants you ("Licensee") a + * non-exclusive, royalty free, license to use, modify and + * redistribute this software in source and binary code form, provided + * that the following conditions are met: + * + * 1. Acknowledgement of the program authors must be made in any + * publication of scientific results based in part on use of the + * program. An acceptable form of acknowledgement is citation of + * the article in which the program was described (Matthew + * A. Meineke, Charles F. Vardeman II, Teng Lin, Christopher + * J. Fennell and J. Daniel Gezelter, "OOPSE: An Object-Oriented + * Parallel Simulation Engine for Molecular Dynamics," + * J. Comput. Chem. 26, pp. 252-271 (2005)) + * + * 2. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * + * 3. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the + * distribution. + * + * This software is provided "AS IS," without a warranty of any + * kind. All express or implied conditions, representations and + * warranties, including any implied warranty of merchantability, + * fitness for a particular purpose or non-infringement, are hereby + * excluded. The University of Notre Dame and its licensors shall not + * be liable for any damages suffered by licensee as a result of + * using, modifying or distributing the software or its + * derivatives. In no event will the University of Notre Dame or its + * licensors be liable for any lost revenue, profit or data, or for + * direct, indirect, special, consequential, incidental or punitive + * damages, however caused and regardless of the theory of liability, + * arising out of the use of or inability to use software, even if the + * University of Notre Dame has been advised of the possibility of + * such damages. */ - + /** * @file Quaternion.hpp * @author Teng Lin @@ -53,10 +69,10 @@ namespace oopse{ /** Constructs and initializes a Quaternion from w, x, y, z values */ Quaternion(Real w, Real x, Real y, Real z) { - data_[0] = w; - data_[1] = x; - data_[2] = y; - data_[3] = z; + this->data_[0] = w; + this->data_[1] = x; + this->data_[2] = y; + this->data_[3] = z; } /** Constructs and initializes a Quaternion from a Vector */ @@ -79,7 +95,7 @@ namespace oopse{ * @return the value of the first element of this quaternion */ Real w() const { - return data_[0]; + return this->data_[0]; } /** @@ -87,7 +103,7 @@ namespace oopse{ * @return the reference of the first element of this quaternion */ Real& w() { - return data_[0]; + return this->data_[0]; } /** @@ -95,7 +111,7 @@ namespace oopse{ * @return the value of the first element of this quaternion */ Real x() const { - return data_[1]; + return this->data_[1]; } /** @@ -103,7 +119,7 @@ namespace oopse{ * @return the reference of the second element of this quaternion */ Real& x() { - return data_[1]; + return this->data_[1]; } /** @@ -111,7 +127,7 @@ namespace oopse{ * @return the value of the third element of this quaternion */ Real y() const { - return data_[2]; + return this->data_[2]; } /** @@ -119,7 +135,7 @@ namespace oopse{ * @return the reference of the third element of this quaternion */ Real& y() { - return data_[2]; + return this->data_[2]; } /** @@ -127,14 +143,14 @@ namespace oopse{ * @return the value of the fourth element of this quaternion */ Real z() const { - return data_[3]; + return this->data_[3]; } /** * Returns the reference of the fourth element of this quaternion. * @return the reference of the fourth element of this quaternion */ Real& z() { - return data_[3]; + return this->data_[3]; } /** @@ -145,7 +161,7 @@ namespace oopse{ inline bool operator ==(const Quaternion& q) { for (unsigned int i = 0; i < 4; i ++) { - if (!equal(data_[i], q[i])) { + if (!equal(this->data_[i], q[i])) { return false; } } @@ -178,17 +194,17 @@ namespace oopse{ void mul(const Quaternion& q) { Quaternion tmp(*this); - data_[0] = (tmp[0]*q[0]) -(tmp[1]*q[1]) - (tmp[2]*q[2]) - (tmp[3]*q[3]); - data_[1] = (tmp[0]*q[1]) + (tmp[1]*q[0]) + (tmp[2]*q[3]) - (tmp[3]*q[2]); - data_[2] = (tmp[0]*q[2]) + (tmp[2]*q[0]) + (tmp[3]*q[1]) - (tmp[1]*q[3]); - data_[3] = (tmp[0]*q[3]) + (tmp[3]*q[0]) + (tmp[1]*q[2]) - (tmp[2]*q[1]); + this->data_[0] = (tmp[0]*q[0]) -(tmp[1]*q[1]) - (tmp[2]*q[2]) - (tmp[3]*q[3]); + this->data_[1] = (tmp[0]*q[1]) + (tmp[1]*q[0]) + (tmp[2]*q[3]) - (tmp[3]*q[2]); + this->data_[2] = (tmp[0]*q[2]) + (tmp[2]*q[0]) + (tmp[3]*q[1]) - (tmp[1]*q[3]); + this->data_[3] = (tmp[0]*q[3]) + (tmp[3]*q[0]) + (tmp[1]*q[2]) - (tmp[2]*q[1]); } void mul(const Real& s) { - data_[0] *= s; - data_[1] *= s; - data_[2] *= s; - data_[3] *= s; + this->data_[0] *= s; + this->data_[1] *= s; + this->data_[2] *= s; + this->data_[3] *= s; } /** Set the value of this quaternion to the division of itself by another quaternion */ @@ -197,10 +213,10 @@ namespace oopse{ } void div(const Real& s) { - data_[0] /= s; - data_[1] /= s; - data_[2] /= s; - data_[3] /= s; + this->data_[0] /= s; + this->data_[1] /= s; + this->data_[2] /= s; + this->data_[3] /= s; } Quaternion& operator *=(const Quaternion& q) { @@ -242,8 +258,8 @@ namespace oopse{ Real y2; Real z2; - if (!isNormalized()) - normalize(); + if (!this->isNormalized()) + this->normalize(); w2 = w() * w(); x2 = x() * x();