Quaternion.h

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/* Copyright (C) 2009 Wildfire Games.
 * This file is part of 0 A.D.
 *
 * 0 A.D. is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 2 of the License, or
 * (at your option) any later version.
 *
 * 0 A.D. is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with 0 A.D.  If not, see <http://www.gnu.org/licenses/>.
 */

#ifndef INCLUDED_QUATERNION
#define INCLUDED_QUATERNION

#include "Matrix3D.h"
#include "Vector3D.h"

class CQuaternion
{
public:
    CVector3D   m_V;
    float       m_W;

public:
    CQuaternion();
    CQuaternion(float x, float y, float z, float w);
    
    CQuaternion operator + (const CQuaternion &quat) const;
    CQuaternion &operator += (const CQuaternion &quat);

    CQuaternion operator - (const CQuaternion &quat) const;
    CQuaternion &operator -= (const CQuaternion &quat);

    CQuaternion operator * (const CQuaternion &quat) const;
    CQuaternion &operator *= (const CQuaternion &quat);

    CQuaternion operator * (float factor) const;

    float Dot(const CQuaternion& quat) const;
    
    void FromEulerAngles (float x, float y, float z);
    CVector3D ToEulerAngles();
    
    // Convert the quaternion to matrix
    CMatrix3D ToMatrix() const;
    void ToMatrix(CMatrix3D& result) const;

    // Sphere interpolation
    void Slerp(const CQuaternion& from, const CQuaternion& to, float ratio);

    // Normalised linear interpolation
    void Nlerp(const CQuaternion& from, const CQuaternion& to, float ratio);

    // Create a quaternion from axis/angle representation of a rotation
    void FromAxisAngle(const CVector3D& axis, float angle);

    // Convert the quaternion to axis/angle representation of a rotation
    void ToAxisAngle(CVector3D& axis, float& angle);

    // Normalize this quaternion
    void Normalize();

    // Rotate a vector by this quaternion. Assumes the quaternion is normalised.
    CVector3D Rotate(const CVector3D& vec) const;

    // Calculate q^-1. Assumes the quaternion is normalised.
    CQuaternion GetInverse() const;
};

#endif