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/****************************************************************************
quaternion.h - A quaternion class
GLUI User Interface Toolkit (LGPL)
Copyright (c) 1998 Paul Rademacher
---------------------------------------------------------------------
WWW: http://sourceforge.net/projects/glui/
Forums: http://sourceforge.net/forum/?group_id=92496
This library 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.
This library 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 library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*****************************************************************************/
#ifndef GLUI_QUATERNION_H
#define GLUI_QUATERNION_H
#include "algebra3.h"
#include <cstdio>
/* this line defines a new type: pointer to a function which returns a */
/* float and takes as argument a float */
typedef float (*V_FCT_PTR)(float);
/****************************************************************
* Quaternion *
****************************************************************/
class quat
{
/*protected: */
public:
vec3 v; /* vector component */
float s; /* scalar component */
/*public: */
/* Constructors */
quat();
quat(float x, float y, float z, float w);
quat(const vec3 &v, float s);
quat(float s, const vec3 &v);
quat(const float *d); /* copy from four-element float array */
quat(const double *f); /* copy from four-element double array */
quat(const quat &q); /* copy from other quat */
/* Assignment operators */
quat &operator = (const quat &v); /* assignment of a quat */
quat &operator += (const quat &v); /* incrementation by a quat */
quat &operator -= (const quat &v); /* decrementation by a quat */
quat &operator *= (float d); /* multiplication by a constant */
quat &operator /= (float d); /* division by a constant */
/* special functions */
float length() const; /* length of a quat */
float length2() const; /* squared length of a quat */
quat &normalize(); /* normalize a quat */
quat &apply(V_FCT_PTR fct); /* apply a func. to each component */
vec3 xform(const vec3 &v ); /* q*v*q-1 */
mat4 to_mat4() const;
void set_angle(float f); /* set rot angle (degrees) */
void scale_angle(float f); /* scale rot angle (degrees) */
float get_angle() const; /* set rot angle (degrees) */
vec3 get_axis() const; /* get axis */
void print( FILE *file, const char *name ) const; /* print to a file */
float &operator [] (int i); /* indexing */
const float &operator [] (int i) const; /* indexing */
void set(float x, float y, float z); /* set quat */
void set(const vec3 &v, float s); /* set quat */
/* friends */
friend quat operator - (const quat &v); /* -q1 */
friend quat operator + (const quat &a, const quat &b); /* q1 + q2 */
friend quat operator - (const quat &a, const quat &b); /* q1 - q2 */
friend quat operator * (const quat &a, float d); /* q1 * 3.0 */
friend quat operator * (float d, const quat &a); /* 3.0 * q1 */
friend quat operator * (const quat &a, const quat &b); /* q1 * q2 */
friend quat operator / (const quat &a, float d); /* q1 / 3.0 */
friend int operator == (const quat &a, const quat &b); /* q1 == q2 ? */
friend int operator != (const quat &a, const quat &b); /* q1 != q2 ? */
friend void swap(quat &a, quat &b); /* swap q1 &q2 */
/*friend quat min(const quat &a, const quat &b); -- min(q1, q2) */
/*friend quat max(const quat &a, const quat &b); -- max(q1, q2) */
friend quat prod(const quat &a, const quat &b); /* term by term mult*/
};
/* Utility functions */
quat quat_identity(); /* Returns quaternion identity element */
quat quat_slerp(const quat &from, const quat &to, float t);
#endif