quaternion.h

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/*
    Sheep - A Rigid Body Dynamics Engine
    Copyright (C) 2001-2004 Francois Beaune
    Contact: http://toxicengine.sourceforge.net/

    This file is part of Sheep.

    Sheep is free software; you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by
    the Free Software Foundation; either version 2 of the License, or
    (at your option) any later version.

    Sheep 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 General Public License for more details.

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

#ifndef SHEEP_MATH_QUATERNION_H
#define SHEEP_MATH_QUATERNION_H

#include "common/misc/htmlstream.h"
#include "real.h"
#include "vector3.h"

#include <cmath>

namespace sheep {

    class Quaternion {
    public:
        Real m_s;       //!< Scalar part.
        Vector3 m_v;    //!< Vector part.

        //! Constructors.
        Quaternion();
        Quaternion(const Quaternion &q);
        Quaternion(Real s, const Vector3 &v);

        //! Identity quaternion.
        static Quaternion Identity();

        //! Construct a rotation quaternion from an angle and an axis.
        //!\todo Assume that axis is already a normalized vector.
        static Quaternion Rotation(Real angle, const Vector3 &axis);

        //! Construct a rotation quaternion from two point on the unit sphere.
        static Quaternion Rotation(const Vector3 &from, const Vector3 &to);

        //! Assignment operator.
        Quaternion &operator=(const Quaternion &q);

        //! Basic operations.
        Quaternion operator+(const Quaternion &q) const;
        Quaternion operator-(const Quaternion &q) const;
        Quaternion operator-() const;
        Quaternion operator*(Real r) const;
        Quaternion operator/(Real r) const;
        Quaternion &operator+=(const Quaternion &q);
        Quaternion &operator-=(const Quaternion &q);
        Quaternion &operator*=(Real r);
        Quaternion &operator/=(Real r);

        //! Quaternion products.
        Quaternion operator*(const Quaternion &q) const;
        Quaternion &operator*=(const Quaternion &q);

        //! Conjugate.
        Quaternion Conjugate() const;

        //! Inverse.
        Quaternion Inverse() const;

        //! Square of the quaternion length.
        Real SquareNorm() const;

        //! Quaternion length.
        Real Norm() const;

        //! Normalized quaternion.
        Quaternion Normalized() const;
    };

    //! Product of a real by a quaternion.
    Quaternion operator*(Real r, const Quaternion &q);

    //! Deprecated.
    htmlstream& operator<<(htmlstream& s, const Quaternion &q);

#include "quaternion.inl"

}

#endif  // !SHEEP_MATH_QUATERNION_H

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