implemented quaternions

[gph-math] / src / quat.h

diff --git a/src/quat.h b/src/quat.h
index 4b71c7c..a03ae70 100644 (file)
--- a/src/quat.h
+++ b/src/quat.h
@@ -1,19 +1,54 @@
 #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_