vtkQuaternionInterpolator.h

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/*=========================================================================

  Program:   Visualization Toolkit
  Module:    vtkQuaternionInterpolator.h

  Copyright (c) Ken Martin, Will Schroeder, Bill Lorensen
  All rights reserved.
  See Copyright.txt or http://www.kitware.com/Copyright.htm for details.

     This software is distributed WITHOUT ANY WARRANTY; without even
     the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
     PURPOSE.  See the above copyright notice for more information.

=========================================================================*/
#ifndef __vtkQuaternionInterpolator_h
#define __vtkQuaternionInterpolator_h

#include "vtkCommonMathModule.h" // For export macro
#include "vtkObject.h"

struct vtkQuaternion;
class vtkQuaternionList;


class VTKCOMMONMATH_EXPORT vtkQuaternionInterpolator : public vtkObject
{
public:
  vtkTypeMacro(vtkQuaternionInterpolator, vtkObject);
  void PrintSelf(ostream& os, vtkIndent indent);

  static vtkQuaternionInterpolator* New();

  int GetNumberOfQuaternions();


  double GetMinimumT();
  double GetMaximumT();

  void Initialize();

  void AddQuaternion(double t, double q[4]);

  void RemoveQuaternion(double t);

  void InterpolateQuaternion(double t, double q[4]);

//BTX

  enum {INTERPOLATION_TYPE_LINEAR=0,
        INTERPOLATION_TYPE_SPLINE
  };
//ETX


  vtkSetClampMacro(InterpolationType,int,INTERPOLATION_TYPE_LINEAR,
                   INTERPOLATION_TYPE_SPLINE);
  vtkGetMacro(InterpolationType,int);
  void SetInterpolationTypeToLinear()
    {this->SetInterpolationType(INTERPOLATION_TYPE_LINEAR);}
  void SetInterpolationTypeToSpline()
    {this->SetInterpolationType(INTERPOLATION_TYPE_SPLINE);}

protected:
  vtkQuaternionInterpolator();
  virtual ~vtkQuaternionInterpolator();

  // Specify the type of interpolation to use
  int InterpolationType;

  // Internal variables for interpolation functions
  vtkQuaternionList *QuaternionList; //used for linear quaternion interpolation

  // Internal method for spherical, linear interpolation
  void Slerp(double t, double q0[4], double q1[4], double q[4]);

  // Internal methods supporting spline interpolation
  static void InnerPoint(double q0[4], double q1[4], double q2[4], double q[4]);

private:
  vtkQuaternionInterpolator(const vtkQuaternionInterpolator&);  // Not implemented.
  void operator=(const vtkQuaternionInterpolator&);  // Not implemented.

};

#endif