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/* ResidualVM - A 3D game interpreter
*
* ResidualVM is the legal property of its developers, whose names
* are too numerous to list here. Please refer to the COPYRIGHT
* file distributed with this source distribution.
*
* This program 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.
* This program 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 this program; if not, write to the Free Software
* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
*/
// Quaternion-math borrowed from plib http://plib.sourceforge.net/index.html
// Which is covered by LGPL2
// And has this additional copyright note:
/*
Quaternion routines are Copyright (C) 1999
Kevin B. Thompson <kevinbthompson@yahoo.com>
Modified by Sylvan W. Clebsch <sylvan@stanford.edu>
Largely rewritten by "Negative0" <negative0@earthlink.net>
*/
#ifndef MATH_QUAT_H
#define MATH_QUAT_H
#include "common/scummsys.h"
#include "common/endian.h"
#include "math/vector.h"
#include "math/angle.h"
#include "math/vector4d.h"
#include "matrix4.h"
namespace Math {
class Quaternion : public Vector4d {
public:
Quaternion() : Vector4d(0, 0, 0, 0) {}
Quaternion(float lx, float ly, float lz, float lw) : Vector4d(lx, ly, lz, lw) {}
Quaternion(const Quaternion &q) : Vector4d(q.x(), q.y(), q.z(), q.w()) {}
Quaternion(const Vector4d &vec) : Vector4d(vec.x(), vec.y(), vec.z(), vec.w()) {}
Matrix4 toMatrix();
void toMatrix(Matrix4 &dst);
/**
* Slerps between this quaternion and to by factor t
* @param to the quaternion to slerp between
* @param t factor to slerp by.
* @return the resulting quaternion.
*/
Quaternion slerpQuat(const Quaternion& to, const float t);
inline static Quaternion get_quaternion(const char *data) {
return Quaternion(get_float(data), get_float(data + 4), get_float(data + 8), get_float(data + 12));
}
Quaternion& operator=(Vector4d &vec);
};
} // end of namespace Math
#endif
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