quaternion.h

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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 {
 
class Quaternion {
public:
    Quaternion();
 
    Quaternion(float qx, float qy, float qz, float qw);
    
    Quaternion(float *ptr);
 
    Quaternion(const Quaternion& other);
    
    virtual ~Quaternion();
    
    bool operator==(const Quaternion& q) const;
    
    bool operator!=(const Quaternion& q) const;
    
    Quaternion& operator=(const Quaternion& q);
    
    float operator[](const int i) const;
    
    float& operator[](const int i);
    
    float x() const { return q[0]; }
 
    float y() const { return q[1]; }
    
    float z() const { return q[2]; }
 
    float w() const { return q[3]; }
    
    const float * value_ptr() const;
 
    float Dot(const Quaternion& q) const;
 
    float Length() const;
    
    void Normalize();
    
    Quaternion ToUnit() const;
    
    Quaternion Conjugate() const;
    
    Vector3 ToEulerAnglesZYX() const;
 
    Quaternion Slerp(const Quaternion &other, float alpha) const;
 
    // the specified axis.
    static Quaternion FromAxisAngle(const Vector3 &axis, float angle);
    
    static Quaternion FromEulerAnglesZYX(const Vector3 &angles);
    
    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