1 #ifndef QUATERNION_H_

2 #define QUATERNION_H_

3

4 namespace gph {

5

6 class Quaternion {

7 public:

8 float x, y, z, w; // w + xi + yj + zk

9

10 Quaternion() : x(0), y(0), z(0), w(1) {}

11 Quaternion(float x_, float y_, float z_, float w_) : x(x_), y(y_), z(z_), w(w_) {}

12 Quaternion(const Vector3 &v, float s) : x(v.x), y(v.y), z(v.z), w(s) {}

13

14 // TODO more

15 };

16

17 } // namespace gph

18

19 #endif // QUATERNION_H_