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