X-Git-Url: http://git.mutantstargoat.com/user/nuclear/?p=gph-math;a=blobdiff_plain;f=src%2Fquat.h;fp=src%2Fquat.h;h=a03ae70296a49355d8505bf21ac95419e164a861;hp=d77f70f7cb96b0403b90bdd538d727aa9e90e1ee;hb=16f27fa9b94ad0a8a07c4e9a315d1aad2adc4e1a;hpb=049b9453cf079d9aa0710b3a885e96d0920e5547

diff --git a/src/quat.h b/src/quat.h
index d77f70f..a03ae70 100644
--- a/src/quat.h
+++ b/src/quat.h
@@ -2,6 +2,7 @@
 #define QUATERNION_H_
 
 #include "vector.h"
+#include "matrix.h"
 
 namespace gph {
 
@@ -15,10 +16,16 @@ 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 +37,11 @@ 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);