fixed quaterinon axis retrieval and cross product functions

mesh.cpp

@@ -89,10 +89,10 @@ namespace vb01{
 			camPos=cam->getPosition();
 		}
 
-		Vector3 rotAxis=orient.getAxis();
+		Vector3 rotAxis=orient.norm().getAxis();
 		if(rotAxis==Vector3::VEC_ZERO)rotAxis=Vector3::VEC_I;
 		mat4 model=translate(mat4(1.),vec3(pos.x,pos.y,pos.z));
-		model=rotate(model,orient.getAngle(),vec3(rotAxis.x,rotAxis.y,rotAxis.z));
+		model=rotate(model,orient.norm().getAngle(),vec3(rotAxis.x,rotAxis.y,rotAxis.z));
 		model=glm::scale(model,vec3(scale.x,scale.y,scale.z));
 		mat4 view=lookAt(vec3(camPos.x,camPos.y,camPos.z),vec3(camPos.x+dir.x,camPos.y+dir.y,camPos.z+dir.z),vec3(up.x,up.y,up.z));
 		mat4 proj=perspective(radians(fov),width/height,nearPlane,farPlane);

node.cpp

@@ -112,6 +112,13 @@ namespace vb01{
 		text->setNode(this);	
 	}
 
+	void Node::lookAt(Vector3 newDir){
+		Vector3 dir=getLocalAxis(0).norm();
+		float angle=dir.getAngleBetween(newDir.norm());
+		Vector3 rotAxis=dir.cross(newDir.norm());
+		orientation=Quaternion(angle,rotAxis)*orientation;
+	}
+
 	void Node::getDescendants(Node *node, vector<Node*> &descendants){
 		for(int i=0;i<node->getNumChildren();i++){
 			if(node->getChild(i)->getNumChildren()>0)

node.h

@@ -28,6 +28,7 @@ namespace vb01{
 			void dettachChild(Node*);
 			void addLight(Light*);
 			void addText(Text*);
+			void lookAt(Vector3);
 			Transform getWorldTransform();
 			Vector3 getLocalAxis(int);
 			inline Text* getText(int i){return texts[i];}

quaternion.h

@@ -17,7 +17,8 @@ namespace vb01{
 				*this=this->fromAngle(angle,axis);
 			}
 			Quaternion(){}
-			inline vb01::Quaternion operator* (vb01::Quaternion q){
+			inline Quaternion operator- (){return Quaternion(w,-x,-y,-z);}
+			inline Quaternion operator* (Quaternion q){
 				float a1=this->w,a2=q.w,
 					  b1=this->x,b2=q.x,
 					  c1=this->y,c2=q.y,
@@ -28,27 +29,27 @@ namespace vb01{
 				float z=a1*d2+b1*c2-c1*b2+d1*a2;
 				return Quaternion(w,x,y,z);
 			}
-			inline vb01::Vector3 operator* (vb01::Vector3 v){
+			inline Vector3 operator* (Vector3 v){
 				Quaternion vQuat=(*this)*Quaternion(0,v.x,v.y,v.z)*recip();
 				return Vector3(vQuat.x,vQuat.y,vQuat.z);
 			}
-			inline vb01::Quaternion fromAngle(float angle, Vector3 axis){
+			inline Quaternion fromAngle(float angle, Vector3 axis){
 				return Quaternion(cos(angle/2),axis.x*sin(angle/2),axis.y*sin(angle/2),axis.z*sin(angle/2));
 			}
 			inline float getAngle(){return 2*acos(w);}
-			inline vb01::Vector3 getAxis(){return Vector3(asin(x),asin(y),asin(z))*2;}
-			inline vb01::Quaternion operator+(Quaternion q){return Quaternion(w+q.w,x+q.x,y+q.y,z+q.z);}
-			inline vb01::Quaternion operator-(Quaternion q){return Quaternion(w-q.w,x-q.x,y-q.y,z-q.z);}
-			template<typename T> inline vb01::Quaternion operator*(T s){return Quaternion(w*s,x*s,y*s,z*s);}
-			template<typename T> inline vb01::Quaternion operator/(T s){return Quaternion(w/s,x/s,y/s,z/s);}
-			inline vb01::Quaternion conj(){
-				return (*this+vb01::Quaternion(0,1,0,0)
-					*(*this)*vb01::Quaternion(0,1,0,0)+vb01::Quaternion(0,0,1,0)
-					*(*this)*vb01::Quaternion(0,0,1,0)+vb01::Quaternion(0,0,0,1)
-					*(*this)*vb01::Quaternion(0,0,0,1))*-.5;
+			inline Vector3 getAxis(){return getAngle()==0?Vector3(1,0,0):Vector3(x,y,z).norm();}
+			inline Quaternion operator+(Quaternion q){return Quaternion(w+q.w,x+q.x,y+q.y,z+q.z);}
+			inline Quaternion operator-(Quaternion q){return Quaternion(w-q.w,x-q.x,y-q.y,z-q.z);}
+			template<typename T> inline Quaternion operator*(T s){return Quaternion(w*s,x*s,y*s,z*s);}
+			template<typename T> inline Quaternion operator/(T s){return Quaternion(w/s,x/s,y/s,z/s);}
+			inline Quaternion conj(){
+				return (*this+Quaternion(0,1,0,0)
+					*(*this)*Quaternion(0,1,0,0)+Quaternion(0,0,1,0)
+					*(*this)*Quaternion(0,0,1,0)+Quaternion(0,0,0,1)
+					*(*this)*Quaternion(0,0,0,1))*-.5;
 			}
-			inline vb01::Quaternion norm(){return *this/getLength();}
-			inline vb01::Quaternion recip(){return conj()/getLengthSq();}
+			inline Quaternion norm(){return *this/getLength();}
+			inline Quaternion recip(){return conj()/getLengthSq();}
 			inline float getLengthSq(){return w*w+x*x+y*y+z*z;}
 			inline float getLength(){return std::sqrt(getLengthSq());}
 

vector.h

@@ -30,7 +30,8 @@ namespace vb01{
 			this->y=y;
 			this->z=z;
 		}
-		bool  operator==(const Vector3 &v){return x==v.x&&y==v.y&&z==v.z;}
+		bool operator!=(const Vector3 &v){return x!=v.x||y!=v.y||z!=v.z;}
+		bool operator==(const Vector3 &v){return x==v.x&&y==v.y&&z==v.z;}
 		Vector3 operator-(){return Vector3(-x,-y,-z);}
 		Vector3 operator-(const Vector3 &v){return Vector3(x-v.x,y-v.y,z-v.z);}
 		Vector3 operator+(const Vector3 &v){return Vector3(x+v.x,y+v.y,z+v.z);}
@@ -43,8 +44,8 @@ namespace vb01{
 		float dot(Vector3 v){return x*v.x+y*v.y+z*v.z;}
 		float getAngleBetween(Vector3 v){return std::acos(dot(v));}
 		float getDistanceFrom(Vector3 v){return (v-*this).getLengthSq();}
-		Vector3 norm(){return *this/getLength();}
-		Vector3 cross(Vector3 v){return Vector3(y*v.z-v.y*z,x*v.z-v.x*z,x*v.y-v.x*y);}
+		Vector3 norm(){return (*this!=Vector3::VEC_ZERO?*this/getLength():Vector3::VEC_ZERO);}
+		Vector3 cross(Vector3 v){return Vector3(y * v.z - v.y * z, z * v.x - x * v.z, x * v.y - v.x * y);}
 
 		float x,y,z;
 		static const Vector3 VEC_IJK, VEC_I,VEC_J,VEC_K,VEC_ZERO;