nuclear@28: #ifndef VMATH_QUATERNION_H_
nuclear@28: #define VMATH_QUATERNION_H_
nuclear@28: 
nuclear@28: #include <stdio.h>
nuclear@28: #include "vmath_types.h"
nuclear@28: #include "vector.h"
nuclear@28: 
nuclear@28: #ifdef __cplusplus
nuclear@28: extern "C" {
nuclear@28: #endif	/* __cplusplus */
nuclear@28: 
nuclear@28: #define quat_cons(s, x, y, z)	v4_cons(x, y, z, s)
nuclear@28: #define quat_vec(q)				v3_cons((q).x, (q).y, (q).z)
nuclear@28: #define quat_s(q)				((q).w)
nuclear@28: #define quat_identity()			quat_cons(1.0, 0.0, 0.0, 0.0)
nuclear@28: void quat_print(FILE *fp, quat_t q);
nuclear@28: 
nuclear@28: #define quat_add		v4_add
nuclear@28: #define quat_sub		v4_sub
nuclear@28: #define quat_neg		v4_neg
nuclear@28: 
nuclear@28: static inline quat_t quat_mul(quat_t q1, quat_t q2);
nuclear@28: 
nuclear@28: static inline quat_t quat_conjugate(quat_t q);
nuclear@28: 
nuclear@28: #define quat_length		v4_length
nuclear@28: #define quat_length_sq	v4_length_sq
nuclear@28: 
nuclear@28: #define quat_normalize	v4_normalize
nuclear@28: static inline quat_t quat_inverse(quat_t q);
nuclear@28: 
nuclear@28: quat_t quat_rotate(quat_t q, scalar_t angle, scalar_t x, scalar_t y, scalar_t z);
nuclear@28: quat_t quat_rotate_quat(quat_t q, quat_t rotq);
nuclear@28: 
nuclear@28: static inline void quat_to_mat3(mat3_t res, quat_t q);
nuclear@28: static inline void quat_to_mat4(mat4_t res, quat_t q);
nuclear@28: 
nuclear@28: #define quat_lerp quat_slerp
nuclear@28: quat_t quat_slerp(quat_t q1, quat_t q2, scalar_t t);
nuclear@28: 
nuclear@28: 
nuclear@28: #ifdef __cplusplus
nuclear@28: }	/* extern "C" */
nuclear@28: 
nuclear@28: #include <iostream>
nuclear@28: 
nuclear@28: /* Quaternion */
nuclear@28: class Quaternion {
nuclear@28: public:
nuclear@28: 	scalar_t s;
nuclear@28: 	Vector3 v;
nuclear@28: 
nuclear@28: 	Quaternion();
nuclear@28: 	Quaternion(scalar_t s, const Vector3 &v);
nuclear@28: 	Quaternion(scalar_t s, scalar_t x, scalar_t y, scalar_t z);
nuclear@28: 	Quaternion(const Vector3 &axis, scalar_t angle);
nuclear@28: 	Quaternion(const quat_t &quat);
nuclear@28: 
nuclear@28: 	Quaternion operator +(const Quaternion &quat) const;
nuclear@28: 	Quaternion operator -(const Quaternion &quat) const;
nuclear@28: 	Quaternion operator -() const;
nuclear@28: 	Quaternion operator *(const Quaternion &quat) const;
nuclear@28: 
nuclear@28: 	void operator +=(const Quaternion &quat);
nuclear@28: 	void operator -=(const Quaternion &quat);
nuclear@28: 	void operator *=(const Quaternion &quat);
nuclear@28: 
nuclear@28: 	void reset_identity();
nuclear@28: 
nuclear@28: 	Quaternion conjugate() const;
nuclear@28: 
nuclear@28: 	scalar_t length() const;
nuclear@28: 	scalar_t length_sq() const;
nuclear@28: 
nuclear@28: 	void normalize();
nuclear@28: 	Quaternion normalized() const;
nuclear@28: 
nuclear@28: 	Quaternion inverse() const;
nuclear@28: 
nuclear@28: 	void set_rotation(const Vector3 &axis, scalar_t angle);
nuclear@28: 	void rotate(const Vector3 &axis, scalar_t angle);
nuclear@28: 	/* note: this is a totally different operation from the above
nuclear@28: 	 * this treats the quaternion as signifying direction and rotates
nuclear@28: 	 * it by a rotation quaternion by rot * q * rot'
nuclear@28: 	 */
nuclear@28: 	void rotate(const Quaternion &q);
nuclear@28: 
nuclear@28: 	Matrix3x3 get_rotation_matrix() const;
nuclear@28: 
nuclear@28: 	friend Quaternion slerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
nuclear@28: 
nuclear@28: 	friend std::ostream &operator <<(std::ostream &out, const Quaternion &q);
nuclear@28: };
nuclear@28: 
nuclear@28: Quaternion slerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
nuclear@28: inline Quaternion lerp(const Quaternion &q1, const Quaternion &q2, scalar_t t);
nuclear@28: #endif	/* __cplusplus */
nuclear@28: 
nuclear@28: #include "quat.inl"
nuclear@28: 
nuclear@28: #endif	/* VMATH_QUATERNION_H_ */