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/* ScummVM - Graphic Adventure Engine
*
* ScummVM 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 3 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, see <http://www.gnu.org/licenses/>.
*
*/
/*
* Copyright (C) 2006-2010 - Frictional Games
*
* This file is part of HPL1 Engine.
*/
#ifndef HPL_QUATERNION_H
#define HPL_QUATERNION_H
#include "hpl1/engine/math/Vector3.h"
#include "hpl1/engine/math/hplMatrix.h"
namespace hpl {
class cQuaternion {
public:
cVector3<float> v;
float w;
cQuaternion();
cQuaternion(float afAngle, const cVector3<float> &avAxis);
constexpr cQuaternion(float afW, float afX, float afY, float afZ) : v(afX, afY, afZ), w(afW) {
}
void Normalise();
void ToRotationMatrix(cMatrix<float> &a_mtxDest) const;
void FromRotationMatrix(const cMatrix<float> &a_mtxRot);
/**
* Set the quaternion from and angle and axis.
* \param afAngle
* \param &avAxis MUST be unit length!
*/
void FromAngleAxis(float afAngle, const cVector3<float> &avAxis);
cQuaternion operator+(const cQuaternion &aqB) const;
cQuaternion operator-(const cQuaternion &aqB) const;
cQuaternion operator*(const cQuaternion &aqB) const;
cQuaternion operator*(float afScalar) const;
static const cQuaternion Identity;
private:
};
} // namespace hpl
#endif // HPL_QUATERNION_H
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