X-Git-Url: http://git.mutantstargoat.com/user/nuclear/?a=blobdiff_plain;f=src%2Fquat.h;h=aabf2c2bfbd55853c7dc316a1dc049be6f47390e;hb=19e9cbd5ac2394b302a9e79b15cad8faf071b6e1;hp=d77f70f7cb96b0403b90bdd538d727aa9e90e1ee;hpb=049b9453cf079d9aa0710b3a885e96d0920e5547;p=gph-math

diff --git a/src/quat.h b/src/quat.h
index d77f70f..aabf2c2 100644
--- a/src/quat.h
+++ b/src/quat.h
@@ -1,7 +1,17 @@
+/*
+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 {
 
@@ -15,10 +25,16 @@ public:
 	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) {}
 
-	void normalize();
-	void invert();
+	inline void normalize();
+	inline void conjugate();
+	inline void invert();
 
-	Matrix4x4 calc_matrix() const;
+	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);
@@ -30,12 +46,11 @@ 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 Quaternion conjugate(const Quaternion &q);
-
 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);