mirror of
https://github.com/aap/librw.git
synced 2024-12-11 04:55:43 +00:00
55 lines
1.3 KiB
C
55 lines
1.3 KiB
C
|
#ifndef MATH_QUAT_H
|
||
|
#define MATH_QUAT_H
|
||
|
|
||
|
#include <iostream>
|
||
|
#include <cmath>
|
||
|
|
||
|
class Vec3;
|
||
|
class Vec4;
|
||
|
class Mat3;
|
||
|
|
||
|
/* Hamilton style */
|
||
|
|
||
|
class Quat {
|
||
|
public:
|
||
|
float w, x, y, z;
|
||
|
|
||
|
Quat(void);
|
||
|
Quat(float w);
|
||
|
Quat(float x, float y, float z);
|
||
|
Quat(float w, float x, float y, float z);
|
||
|
Quat(float w, const Vec3 &v);
|
||
|
Quat(const Vec3 &v);
|
||
|
Quat(const Vec4 &v);
|
||
|
Quat(const Mat3 &m);
|
||
|
float *ptr(void);
|
||
|
Quat operator-(void) const;
|
||
|
Quat operator+(const Quat &rhs) const;
|
||
|
Quat operator-(const Quat &rhs) const;
|
||
|
Quat operator*(const Quat &rhs) const;
|
||
|
Quat operator*(float rhs) const;
|
||
|
Quat operator/(float rhs) const;
|
||
|
Quat &operator+=(const Quat &rhs);
|
||
|
Quat &operator-=(const Quat &rhs);
|
||
|
Quat &operator*=(const Quat &rhs);
|
||
|
Quat &operator*=(float rhs);
|
||
|
Quat &operator/=(float rhs);
|
||
|
bool operator==(const Quat &rhs) const;
|
||
|
bool operator!=(const Quat &rhs) const;
|
||
|
Quat inv(void) const;
|
||
|
Quat K(void) const; /* conjugate */
|
||
|
Quat S(void) const; /* scalar */
|
||
|
Quat V(void) const; /* vector */
|
||
|
float T(void) const; /* tensor */
|
||
|
float N(void) const; /* norm = tensor^2 */
|
||
|
Quat U(void) const; /* versor */
|
||
|
Quat wedge(const Quat &rhs) const;
|
||
|
float inner(const Quat &rhs) const;
|
||
|
Quat lerp(const Quat &rhs, float t) const;
|
||
|
Quat slerp(const Quat &rhs, float t) const;
|
||
|
void print(std::ostream &of) const;
|
||
|
};
|
||
|
|
||
|
#endif
|
||
|
|