3dpcp/.svn/pristine/02/02a0e9d78c9155f6cc70109d351e9a47fb0304ee.svn-base
2012-09-16 14:33:11 +02:00

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/**************************************************************************
quaternion.h
A quaternion class
---------------------------------------------------------------------
Feb 1998, Paul Rademacher (rademach@cs.unc.edu)
**************************************************************************/
#ifndef _QUATERNION_H_
#define _QUATERNION_H_
#include "algebra3.h"
#include <stdio.h>
#include <stdlib.h>
/* 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(void);
quat(const float x, const float y, const float z, const float w);
quat( vec3 v, float s );
quat( float s, 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 *= ( const float d ); /* multiplication by a constant */
quat &operator /= ( const float d ); /* division by a constant */
float &operator [] ( int i); /* indexing */
/* special functions */
float length(void); /* length of a quat */
float length2(void); /* squared length of a quat */
quat &normalize(void); /* normalize a quat */
quat &apply(V_FCT_PTR fct); /* apply a func. to each component */
void set( float x, float y, float z ); /* set quat */
void set( vec3 v, float s ); /* set quat */
void print( FILE *file, char *name ); /* print quat to a file */
vec3 xform( const vec3 &v ); /* q*v*q-1 */
mat4 to_mat4( void );
void set_angle( float f ); /* set rot angle (degrees) */
void scale_angle( float f ); /* scale rot angle (degrees) */
float get_angle( void ); /* set rot angle (degrees) */
vec3 get_axis( void ); /* get axis */
/* 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, const float d); /* q1 * 3.0 */
friend quat operator * (const 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, const 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( void ); /* Returns quaternion identity element */
quat quat_slerp( quat from, quat to, float t );
#endif