X-Git-Url: http://git.mutantstargoat.com/user/nuclear/?a=blobdiff_plain;f=src%2Fquat.h;h=aabf2c2bfbd55853c7dc316a1dc049be6f47390e;hb=19e9cbd5ac2394b302a9e79b15cad8faf071b6e1;hp=4b71c7c894532ddecd8c8ad4b842e56a0e4c3dad;hpb=bdeb1048917667c00f540c17f397443e8f6f76bf;p=gph-math

diff --git a/src/quat.h b/src/quat.h
index 4b71c7c..aabf2c2 100644
--- a/src/quat.h
+++ b/src/quat.h
@@ -1,19 +1,63 @@
+/*
+gph-math - math library for graphics programs
+Copyright (C) 2016 John Tsiombikas <nuclear@member.fsf.org>
+
+This program is free software. Feel free to use, modify, and/or redistribute
+it under the terms of the MIT/X11 license. See LICENSE for details.
+If you intend to redistribute parts of the code without the LICENSE file
+replace this paragraph with the full contents of the LICENSE file.
+*/
 #ifndef QUATERNION_H_
 #define QUATERNION_H_
 
+#include "vector.h"
+#include "matrix.h"
+
 namespace gph {
 
 class Quaternion {
 public:
 	float x, y, z, w;	// w + xi + yj + zk
 
+	static Quaternion identity;
+
 	Quaternion() : x(0), y(0), z(0), w(1) {}
 	Quaternion(float x_, float y_, float z_, float w_) : x(x_), y(y_), z(z_), w(w_) {}
 	Quaternion(const Vector3 &v, float s) : x(v.x), y(v.y), z(v.z), w(s) {}
 
-	// TODO more
+	inline void normalize();
+	inline void conjugate();
+	inline void invert();
+
+	inline void set_rotation(const Vector3 &axis, float angle);
+	inline void rotate(const Vector3 &axis, float angle);
+	// rotate by a quaternion rq by doing: rq * *this * conjugate(rq)
+	inline void rotate(const Quaternion &rq);
+
+	inline Matrix4x4 calc_matrix() const;
 };
 
+inline Quaternion operator -(const Quaternion &q);
+inline Quaternion operator +(const Quaternion &a, const Quaternion &b);
+inline Quaternion operator -(const Quaternion &a, const Quaternion &b);
+inline Quaternion operator *(const Quaternion &a, const Quaternion &b);
+
+inline Quaternion &operator +=(Quaternion &a, const Quaternion &b);
+inline Quaternion &operator -=(Quaternion &a, const Quaternion &b);
+inline Quaternion &operator *=(Quaternion &a, const Quaternion &b);
+
+inline float length(const Quaternion &q);
+inline float length_sq(const Quaternion &q);
+
+inline Quaternion normalize(const Quaternion &q);
+inline Quaternion conjugate(const Quaternion &q);
+inline Quaternion inverse(const Quaternion &q);
+
+Quaternion slerp(const Quaternion &a, const Quaternion &b, float t);
+inline Quaternion lerp(const Quaternion &a, const Quaternion &b, float t);
+
+#include "quat.inl"
+
 }	// namespace gph
 
 #endif	// QUATERNION_H_