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// ==============================================================
// This file is part of Glest Shared Library (www.glest.org)
//
// Copyright (C) 2001-2008 Martiño Figueroa
//
// You can redistribute this code 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
// ==============================================================
#ifndef _SHARED_GRAPHICS_QUATERNION_H_
#define _SHARED_GRAPHICS_QUATERNION_H_
#include <string>
#include "vec.h"
#include "matrix.h"
#include "leak_dumper.h"
using namespace std;
namespace Shared{ namespace Graphics{
// =====================================================
// class AxisAngle
// =====================================================
class AxisAngle{
public:
Vec3f axis;
float angle;
AxisAngle() {
angle = 0.0f;
}
AxisAngle(const Vec3f &axis, float angle);
};
// =====================================================
// class EulerAngles
// =====================================================
class EulerAngles{
public:
float x, y, z;
EulerAngles() {
x = 0.0f;
y = 0.0f;
z = 0.0f;
}
EulerAngles(float x, float y, float z);
};
// =====================================================
// class Quaternion
// =====================================================
class Quaternion{
private:
float w;
Vec3f v;
public:
Quaternion();
Quaternion(float w, const Vec3f &v);
Quaternion(const EulerAngles &eulerAngles);
//Quaternion(const AxisAngle &axisAngle);
//initializers
void setMultIdentity();
void setAddIdentity();
void setAxisAngle(const AxisAngle &axisAngle);
void setEuler(const EulerAngles &eulerAngles);
//unary operators
//float length();
Quaternion conjugate();
//void normalize();
//binary operators
Quaternion operator + (const Quaternion &q) const;
Quaternion operator * (const Quaternion &q) const;
void operator += (const Quaternion &q);
void operator *= (const Quaternion &q);
//ternary operators
Quaternion lerp(float t, const Quaternion &q) const;
//conversions
Matrix3f toMatrix3() const;
Matrix4f toMatrix4() const;
//AxisAngle toAxisAngle() const;
//local axis
Vec3f getLocalXAxis() const;
Vec3f getLocalYAxis() const;
Vec3f getLocalZAxis() const;
};
}}//end namespace
#endif
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