From 049b9453cf079d9aa0710b3a885e96d0920e5547 Mon Sep 17 00:00:00 2001
From: John Tsiombikas <nuclear@mutantstargoat.com>
Date: Wed, 30 Dec 2015 01:17:34 +0200
Subject: [PATCH] adding quats

---
 src/quat.cc  |    9 +++++++++
 src/quat.h   |   31 ++++++++++++++++++++++++++++++-
 src/quat.inl |   18 ++++++++++++++++++
 3 files changed, 57 insertions(+), 1 deletion(-)
 create mode 100644 src/quat.cc
 create mode 100644 src/quat.inl

diff --git a/src/quat.cc b/src/quat.cc
new file mode 100644
index 0000000..292ab24
--- /dev/null
+++ b/src/quat.cc
@@ -0,0 +1,9 @@
+#include "quat.h"
+
+namespace gph {
+
+Quaternion Quaternion::identity;
+
+
+
+}	// namespace gph
diff --git a/src/quat.h b/src/quat.h
index 4b71c7c..d77f70f 100644
--- a/src/quat.h
+++ b/src/quat.h
@@ -1,19 +1,48 @@
 #ifndef QUATERNION_H_
 #define QUATERNION_H_
 
+#include "vector.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
+	void normalize();
+	void invert();
+
+	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 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 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_
diff --git a/src/quat.inl b/src/quat.inl
new file mode 100644
index 0000000..5552165
--- /dev/null
+++ b/src/quat.inl
@@ -0,0 +1,18 @@
+inline Quaternion operator -(const Quaternion &q)
+{
+	return Quaternion(-q.x, -q.y, -q.z, -q.w);
+}
+
+inline Quaternion operator +(const Quaternion &a, const Quaternion &b)
+{
+	return Quaternion(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w);
+}
+
+inline Quaternion operator -(const Quaternion &a, const Quaternion &b)
+{
+	return Quaternion(a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w);
+}
+
+inline Quaternion operator *(const Quaternion &a, const Quaternion &b)
+{
+	float x = a.w * b.w - (a.x * b.x + a.y * b.y + a.z * b.z);
-- 
1.7.10.4