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/********************************************************************************
* *
* Q u a t e r n i o n D o u b l e - F u n c t i o n s *
* *
*********************************************************************************
* Copyright (C) 1994,2002 by Jeroen van der Zijp. All Rights Reserved. *
*********************************************************************************
* This library is free software; you can redistribute it and/or *
* modify it under the terms of the GNU Lesser General Public *
* License as published by the Free Software Foundation; either *
* version 2.1 of the License, or (at your option) any later version. *
* *
* This library 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 *
* Lesser General Public License for more details. *
* *
* You should have received a copy of the GNU Lesser General Public *
* License along with this library; if not, write to the Free Software *
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. *
*********************************************************************************
* $Id: FXDQuat.h,v 1.9 2002/01/18 22:42:52 jeroen Exp $ *
********************************************************************************/
#ifndef FXDQUAT_H
#define FXDQUAT_H
/// Quaternion (double-precision version)
class FXAPI FXDQuat : public FXDHVec {
public:
/// Default constructor
FXDQuat(){}
/// Construct from axis and angle
FXDQuat(const FXDVec& axis,FXdouble phi=0.0);
/// Construct from euler angles yaw (z), pitch (y), and roll (x)
FXDQuat(FXdouble roll,FXdouble pitch,FXdouble yaw);
/// Construct from components
FXDQuat(FXdouble x,FXdouble y,FXdouble z,FXdouble w):FXDHVec(x,y,z,w){}
/// Adjust quaternion length
FXDQuat& adjust();
/// Set quaternion from yaw (z), pitch (y), and roll (x)
void setRollPitchYaw(FXdouble roll,FXdouble pitch,FXdouble yaw);
/// Obtain yaw, pitch, and roll
void getRollPitchYaw(FXdouble& roll,FXdouble& pitch,FXdouble& yaw);
/// Exponentiate quaternion
friend FXAPI FXDQuat exp(const FXDQuat& q);
/// Take logarithm of quaternion
friend FXAPI FXDQuat log(const FXDQuat& q);
/// Invert quaternion
friend FXAPI FXDQuat invert(const FXDQuat& q);
/// Conjugate quaternion
friend FXAPI FXDQuat conj(const FXDQuat& q);
/// Multiply quaternions
friend FXAPI FXDQuat operator*(const FXDQuat& p,const FXDQuat& q);
/// Construct quaternion from arc a->b on unit sphere
friend FXAPI FXDQuat arc(const FXDVec& a,const FXDVec& b);
/// Spherical lerp
friend FXAPI FXDQuat lerp(const FXDQuat& u,const FXDQuat& v,FXdouble f);
};
#endif
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