---

Quaternion.h

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/*
    TEDDY - General graphics application library
    Copyright (C) 1999-2002  Timo Suoranta
    tksuoran@cc.helsinki.fi

        Adapted from

        The Universe Development Kit
        Copyright (C) 2000  Sean O'Neil
        s_p_oneil@hotmail.com

    This library is free software; you can redistribute it and/or
    modify it under the terms of the GNU Lesser General Public
    License as published by the Free Software Foundation; either
    version 2.1 of the License, or (at your option) any later version.

    This library is distributed in the hope that it will be useful,
    but WITHOUT ANY WARRANTY; without even the implied warranty of
    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
    Lesser General Public License for more details.

    You should have received a copy of the GNU Lesser General Public
    License along with this library; if not, write to the Free Software
    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

    $Id: Quaternion.h,v 1.5 2002/01/17 18:57:37 tksuoran Exp $
*/


#ifndef TEDDY__MATHS__QUATERNION__H
#define TEDDY__MATHS__QUATERNION__H


#include "Teddy/SysSupport/StdMaths.h"


namespace Teddy {
namespace Maths {


class Matrix;
template <typename T> class TVector;


class Quaternion {
public:
    double v[4];

    // Constructors
    Quaternion();
    Quaternion( const float  a, const float  b, const float  c, const float  d );
    Quaternion( const double a, const double b, const double c, const double d );
    Quaternion( const TVector<float> &v, const double f);
    Quaternion( const TVector<float> &v );
    Quaternion( const Quaternion     &q );
    Quaternion( const Matrix         &m );
    Quaternion( const double         *p );

    // Casting and unary operators
                operator       double*();
    double     &operator           [] ( const int n );
                operator const double*()              const;
    double      operator           [] ( const int n ) const;
    Quaternion  operator            - ()              const;

    // Equal and comparison operators
    void operator=( const TVector<float> &vec );
    void operator=( const Quaternion     &q   );
    void operator=( const Matrix         &m   );
    void operator=( const double         *p   );

    // Arithmetic operators (quaternion and scalar)
    Quaternion operator+( const double f ) const;
    Quaternion operator-( const double f ) const;
    Quaternion operator*( const double f ) const;
    Quaternion operator/( const double f ) const;
    const Quaternion &operator+=( const double f );
    const Quaternion &operator-=( const double f );
    const Quaternion &operator*=( const double f );
    const Quaternion &operator/=( const double f );

    // Arithmetic operators (quaternion and quaternion)
    Quaternion operator+( const Quaternion &q ) const;
    Quaternion operator-( const Quaternion &q ) const;
    Quaternion operator*( const Quaternion &q ) const;  //  Multiplying quaternions is a special operation
                                                                                                                               
    const Quaternion &operator+=( const Quaternion &q );
    const Quaternion &operator-=( const Quaternion &q );
    const Quaternion &operator*=( const Quaternion &q );

    // Magnitude/normalize methods
    double magnitudeSquared() const;
    double magnitude       () const;
    void   normalize       ();

    // Advanced quaternion methods
    Quaternion     conjugate   () const;
    Quaternion     inverse     () const;
    Quaternion     unitInverse () const;
    TVector<float> rotateVector( TVector<float> &v ) const;
    void           setAxisAngle( const TVector<float> &vAxis, const double fAngle );
    void           getAxisAngle( TVector<float> &vAxis, double &fAngle) const;

    void rotate( const Quaternion &q );

    void rotate( const TVector<float> &vAxis, const double fAngle );
    TVector<float> getViewAxis () const;
    TVector<float> getUpAxis   () const;
    TVector<float> getRightAxis() const;
};


extern Quaternion slerp( const Quaternion &q1, const Quaternion &q2, const double t );


};  //  namespace Maths
};  //  namespace Teddy


#endif  //  TEDDY__MATHS__QUATERNION__H