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+/*
+ This file is part of the MinGfx Project.
+
+ Copyright (c) 2017,2018 Regents of the University of Minnesota.
+ All Rights Reserved.
+
+ Original Author(s) of this File:
+ Dan Keefe, 2018, University of Minnesota
+
+ Author(s) of Significant Updates/Modifications to the File:
+ ...
+ */
+
+#ifndef SRC_QUATERNION_H_
+#define SRC_QUATERNION_H_
+
+#include <iostream>
+
+#include "vector3.h"
+
+namespace mingfx {
+
+/** A quaternion to represent rotations in 3D space. The main use of quaternions
+ within the library is to support smooth interpolation between rotations, since
+ this is not possible using Euler angles or rotation matrices. The class includes
+ a Slerp routine for spherical interpolation between rotations. Example use:
+ ~~~
+ // find a rotation 1/2 way between r1 and r2, both originally expressed in Euler angles
+
+ Vector3 euler1 = GfxMath::ToRadians(Vector3(0,0,60));
+ Vector3 euler2 = GfxMath::ToRadians(Vector3(45,45,60));
+
+ Quaternion q1 = Quaternion::FromEulerAnglesZYX(euler1);
+ Quaternion q2 = Quaternion::FromEulerAnglesZYX(euler2);
+
+ float alpha = 0.5;
+ Quaternion q_half_way = q1.Slerp(q2, alpha);
+ Vector3 new_euler_angles = GfxMath::ToDegrees(q_half_way.ToEulerAnglesZYX());
+ ~~~
+ */
+class Quaternion {
+public:
+ /// Creates a quat with the identity rotation
+ Quaternion();
+
+ /// Creates a quat from the 4 parameters
+ Quaternion(float qx, float qy, float qz, float qw);
+
+ /// Creates a quate from a pointer to 4 floating point numbers in the order
+ /// qx, qy, qz, qw.
+ Quaternion(float *ptr);
+
+ /// Copy constructor
+ Quaternion(const Quaternion& other);
+
+ virtual ~Quaternion();
+
+ /// Check for "equality", taking floating point imprecision into account
+ bool operator==(const Quaternion& q) const;
+
+ /// Check for "inequality", taking floating point imprecision into account
+ bool operator!=(const Quaternion& q) const;
+
+ /// Assignment operator
+ Quaternion& operator=(const Quaternion& q);
+
+ /// Read only access to the ith coordinate of the quaternion (qx, qy, qz, qw).
+ float operator[](const int i) const;
+
+ /// Writable access the ith coordinate of the quaternion (qx, qy, qz, qw).
+ float& operator[](const int i);
+
+ /// Read only access to the x coordinate of the imaginary part of the quaternion.
+ float x() const { return q[0]; }
+
+ /// Read only access to the y coordinate of the imaginary part of the quaternion.
+ float y() const { return q[1]; }
+
+ /// Read only access to the z coordinate of the imaginary part of the quaternion.
+ float z() const { return q[2]; }
+
+ /// Read only access to the w, real part, of the quaternion.
+ float w() const { return q[3]; }
+
+ /// Returns a const pointer to the raw data array, stored in the order qx, qy, qz, qw.
+ const float * value_ptr() const;
+
+ /// Returns the dot product of this quaternion with another.
+ float Dot(const Quaternion& q) const;
+
+ /// Returns the length of the quaternion.
+ float Length() const;
+
+ /// Normalizes the quat by making it unit length.
+ void Normalize();
+
+ /// Returns a normalized (i.e., unit length) version of the quaternion without
+ /// modifying the original.
+ Quaternion ToUnit() const;
+
+ /// Returns the conjugate of the quaternion.
+ Quaternion Conjugate() const;
+
+ /// Converts the rotation specified by the quaternion into Euler angles.
+ Vector3 ToEulerAnglesZYX() const;
+
+ /// Uses spherical interpolation to interpoloate between the rotation stored
+ /// in this quaternion and the rotation stored in another.
+ Quaternion Slerp(const Quaternion &other, float alpha) const;
+
+ /// Creates a new quaternion that describes a rotation by angle radians about
+ // the specified axis.
+ static Quaternion FromAxisAngle(const Vector3 &axis, float angle);
+
+ /// Creates a new quaternion from a rotation defined in Euler angles.
+ static Quaternion FromEulerAnglesZYX(const Vector3 &angles);
+
+ /// Uses spherical interpolation to interpoloate between the rotations
+ /// specified by two quaternions.
+ static Quaternion Slerp(const Quaternion &a, const Quaternion &b, float alpha);
+
+private:
+ float q[4];
+};
+
+
+Quaternion operator*(const Quaternion& q1, const Quaternion& q2);
+Quaternion operator/(const Quaternion& q, const float s);
+Quaternion operator*(const float s, const Quaternion& q);
+Quaternion operator*(const Quaternion& q, const float s);
+Quaternion operator-(const Quaternion& q);
+Quaternion operator+(const Quaternion& q1, const Quaternion& q2);
+Quaternion operator-(const Quaternion& q1, const Quaternion& q2);
+
+std::ostream & operator<< ( std::ostream &os, const Quaternion &q);
+std::istream & operator>> ( std::istream &is, Quaternion &q);
+
+
+} // end namespace
+
+
+#endif