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1 #ifndef VMATH_QUATERNION_H_
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2 #define VMATH_QUATERNION_H_
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3
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4 #include <stdio.h>
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5 #include "vmath_types.h"
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6 #include "vector.h"
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7
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8 #ifdef __cplusplus
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9 extern "C" {
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10 #endif /* __cplusplus */
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11
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12 #define quat_cons(s, x, y, z) v4_cons(x, y, z, s)
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13 #define quat_vec(q) v3_cons((q).x, (q).y, (q).z)
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14 #define quat_s(q) ((q).w)
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15 #define quat_identity() quat_cons(1.0, 0.0, 0.0, 0.0)
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16 void quat_print(FILE *fp, quat_t q);
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17
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18 #define quat_add v4_add
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19 #define quat_sub v4_sub
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20 #define quat_neg v4_neg
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21
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22 static inline quat_t quat_mul(quat_t q1, quat_t q2);
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23
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24 static inline quat_t quat_conjugate(quat_t q);
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25
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26 #define quat_length v4_length
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27 #define quat_length_sq v4_length_sq
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28
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29 #define quat_normalize v4_normalize
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30 static inline quat_t quat_inverse(quat_t q);
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31
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32 quat_t quat_rotate(quat_t q, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
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33 quat_t quat_rotate_quat(quat_t q, quat_t rotq);
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34
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35 static inline void quat_to_mat3(mat3_t res, quat_t q);
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36 static inline void quat_to_mat4(mat4_t res, quat_t q);
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37
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38 #define quat_lerp quat_slerp
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39 quat_t quat_slerp(quat_t q1, quat_t q2, scalar_t t);
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40
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41
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42 #ifdef __cplusplus
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43 } /* extern "C" */
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44
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45 #include <iostream>
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46
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47 /* Quaternion */
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48 class Quaternion {
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49 public:
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50 scalar_t s;
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51 Vector3 v;
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52
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53 Quaternion();
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54 Quaternion(scalar_t s, const Vector3 &v);
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55 Quaternion(scalar_t s, scalar_t x, scalar_t y, scalar_t z);
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56 Quaternion(const Vector3 &axis, scalar_t angle);
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57 Quaternion(const quat_t &quat);
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58
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59 Quaternion operator +(const Quaternion &quat) const;
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60 Quaternion operator -(const Quaternion &quat) const;
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61 Quaternion operator -() const;
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62 Quaternion operator *(const Quaternion &quat) const;
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63
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64 void operator +=(const Quaternion &quat);
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65 void operator -=(const Quaternion &quat);
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66 void operator *=(const Quaternion &quat);
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67
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68 void reset_identity();
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69
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70 Quaternion conjugate() const;
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71
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72 scalar_t length() const;
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73 scalar_t length_sq() const;
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74
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75 void normalize();
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76 Quaternion normalized() const;
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77
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78 Quaternion inverse() const;
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79
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80 void set_rotation(const Vector3 &axis, scalar_t angle);
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81 void rotate(const Vector3 &axis, scalar_t angle);
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82 /* note: this is a totally different operation from the above
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83 * this treats the quaternion as signifying direction and rotates
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84 * it by a rotation quaternion by rot * q * rot'
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85 */
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86 void rotate(const Quaternion &q);
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87
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88 Matrix3x3 get_rotation_matrix() const;
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89
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90 friend Quaternion slerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
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91
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92 friend std::ostream &operator <<(std::ostream &out, const Quaternion &q);
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93 };
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94
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95 Quaternion slerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
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96 inline Quaternion lerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
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97 #endif /* __cplusplus */
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98
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99 #include "quat.inl"
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100
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101 #endif /* VMATH_QUATERNION_H_ */
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