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/*
===========================================================================
Return to Castle Wolfenstein single player GPL Source Code
Copyright (C) 1999-2010 id Software LLC, a ZeniMax Media company.
This file is part of the Return to Castle Wolfenstein single player GPL Source Code (RTCW SP Source Code).
RTCW SP Source Code 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 3 of the License, or
(at your option) any later version.
RTCW SP Source Code 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 RTCW SP Source Code. If not, see <http://www.gnu.org/licenses/>.
In addition, the RTCW SP Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the RTCW SP Source Code. If not, please request a copy in writing from id Software at the address below.
If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
===========================================================================
*/
#ifndef __MATH_QUATERNION_H__
#define __MATH_QUATERNION_H__
#include <assert.h>
#include <math.h>
class idVec3_t;
class angles_t;
class mat3_t;
class quat_t {
public:
float x;
float y;
float z;
float w;
quat_t();
quat_t( float x, float y, float z, float w );
friend void toQuat( idVec3_t &src, quat_t &dst );
friend void toQuat( angles_t &src, quat_t &dst );
friend void toQuat( mat3_t &src, quat_t &dst );
float *vec4( void );
float operator[]( int index ) const;
float &operator[]( int index );
void set( float x, float y, float z, float w );
void operator=( quat_t a );
friend quat_t operator+( quat_t a, quat_t b );
quat_t &operator+=( quat_t a );
friend quat_t operator-( quat_t a, quat_t b );
quat_t &operator-=( quat_t a );
friend quat_t operator*( quat_t a, float b );
friend quat_t operator*( float a, quat_t b );
quat_t &operator*=( float a );
friend int operator==( quat_t a, quat_t b );
friend int operator!=( quat_t a, quat_t b );
float Length( void );
quat_t &Normalize( void );
quat_t operator-();
};
inline quat_t::quat_t() {
}
inline quat_t::quat_t( float x, float y, float z, float w ) {
this->x = x;
this->y = y;
this->z = z;
this->w = w;
}
inline float *quat_t::vec4( void ) {
return &x;
}
inline float quat_t::operator[]( int index ) const {
assert( ( index >= 0 ) && ( index < 4 ) );
return ( &x )[ index ];
}
inline float& quat_t::operator[]( int index ) {
assert( ( index >= 0 ) && ( index < 4 ) );
return ( &x )[ index ];
}
inline void quat_t::set( float x, float y, float z, float w ) {
this->x = x;
this->y = y;
this->z = z;
this->w = w;
}
inline void quat_t::operator=( quat_t a ) {
x = a.x;
y = a.y;
z = a.z;
w = a.w;
}
inline quat_t operator+( quat_t a, quat_t b ) {
return quat_t( a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w );
}
inline quat_t& quat_t::operator+=( quat_t a ) {
x += a.x;
y += a.y;
z += a.z;
w += a.w;
return *this;
}
inline quat_t operator-( quat_t a, quat_t b ) {
return quat_t( a.x - b.x, a.y - b.y, a.z - b.z, a.w - b.w );
}
inline quat_t& quat_t::operator-=( quat_t a ) {
x -= a.x;
y -= a.y;
z -= a.z;
w -= a.w;
return *this;
}
inline quat_t operator*( quat_t a, float b ) {
return quat_t( a.x * b, a.y * b, a.z * b, a.w * b );
}
inline quat_t operator*( float a, quat_t b ) {
return b * a;
}
inline quat_t& quat_t::operator*=( float a ) {
x *= a;
y *= a;
z *= a;
w *= a;
return *this;
}
inline int operator==( quat_t a, quat_t b ) {
return ( ( ( a.x == b.x ) && ( a.y == b.y ) && ( a.z == b.z ) ) && ( a.w == b.w ) );
}
inline int operator!=( quat_t a, quat_t b ) {
return ( ( ( a.x != b.x ) || ( a.y != b.y ) || ( a.z != b.z ) ) && ( a.w != b.w ) );
}
inline float quat_t::Length( void ) {
float length;
length = x * x + y * y + z * z + w * w;
return ( float )sqrt( length );
}
inline quat_t& quat_t::Normalize( void ) {
float length;
float ilength;
length = this->Length();
if ( length ) {
ilength = 1 / length;
x *= ilength;
y *= ilength;
z *= ilength;
w *= ilength;
}
return *this;
}
inline quat_t quat_t::operator-() {
return quat_t( -x, -y, -z, -w );
}
#endif /* !__MATH_QUATERNION_H__ */
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