/* -*- Mode: C++; tab-width: 3; indent-tabs-mode: t; c-basic-offset: 3 -*- */
/*================================================================
 *
 * Project : Hel
 * Author  : Terry 'Mongoose' Hendrix II
 * Website : http://www.westga.edu/~stu7440/
 * Email   : stu7440@westga.edu
 * Object  : Quaternion
 * License : No use w/o permission (C) 2002 Mongoose
 * Comments: Quaternion now in C++ class form fresh from the grove
 *
 *
 *           This file was generated using Mongoose's C++
 *           template generator script.  <stu7440@westga.edu>
 *
 *-- Test Defines -----------------------------------------------
 *
 * UNIT_TEST_QUATERNION - Builds Quaternion class as a console unit test
 *
 *-- History ------------------------------------------------
 *
 * 2002.12.16:
 * Mongoose - Created, based on mtk3d ( freyja )
 ================================================================*/


#ifndef _QUATERNION_H_
#define _QUATERNION_H_

#include <MatMath.h>

class Quaternion
{
 public:

	////////////////////////////////////////////////////////////
	// Constructors
	////////////////////////////////////////////////////////////

	Quaternion();
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Constructs an object of Quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.12.16:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion(vec_t w, vec_t x, vec_t y, vec_t z);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Constructs an object of Quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.12.16:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion(vec4_t v);
	/*------------------------------------------------------
	 * Pre  : v { w, x, y, z }
	 * Post : Constructs an object of Quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.12.16:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	~Quaternion();
	/*------------------------------------------------------
	 * Pre  : Quaternion object is allocated
	 * Post : Deconstructs an object of Quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.12.16:
	 * Mongoose - Created
	 ------------------------------------------------------*/


	////////////////////////////////////////////////////////////
	// Public Accessors
	////////////////////////////////////////////////////////////

	void getMatrix(matrix_t m);
	/*------------------------------------------------------
	 * Pre  : Matrix is valid
	 * Post : Returns col order matrix equiv of this quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion operator =(const Quaternion &q);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Asigns Q to this quaternion
	 *        returns (this) resultant quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion operator *(const Quaternion &q);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Multiplies Q and this quaternion
	 *        returns resultant quaternion
	 *        ( Use normalize() call for unit quaternion )
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion operator /(const Quaternion &q);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Dividess Q from this quaternion
	 *        returns quotient quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion operator +(const Quaternion &q);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Adds Q and this quaternion
	 *        returns resultant quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion operator -(const Quaternion &q);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Subtracts Q from this quaternion
	 *        returns resultant quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	bool operator ==(const Quaternion &q);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Compares Q to this quaternion
	 *        returns boolean true if equal, otherwise false
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion conjugate();
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Returns conjugate of this quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion scale(vec_t s);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Returns scaled result of this quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion inverse();
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Returns inverse of this quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	static vec_t dot(Quaternion a, Quaternion b);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Returns dot product of A and B quaternions
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	vec_t magnitude();
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Returns magnitude this quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	static Quaternion slerp(Quaternion a, Quaternion b, vec_t time);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Interpolates between A and B rotations and
	 *        returns resultant quaternion using
	 *        spherical linear interpolation:
	 *
	 *        I = (((B . A)^ -1)^ Time) A
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/


	////////////////////////////////////////////////////////////
	// Public Mutators
	////////////////////////////////////////////////////////////

	void setIdentity();
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Sets this quaternion to identity
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	void set(vec_t angle, vec_t x, vec_t y, vec_t z);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Sets this quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	void normalize();
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Normalize this quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	void copy(Quaternion q);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Set this quaternion using q
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	void setByMatrix(matrix_t m);
	/*------------------------------------------------------
	 * Pre  : Matrix is valid column order
	 * Post : Sets matrix equiv of this quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/


 private:

	////////////////////////////////////////////////////////////
	// Private Accessors
	////////////////////////////////////////////////////////////

	Quaternion multiply(Quaternion a, Quaternion b);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Multiplies A and B quaternions
	 *        returns resultant quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion divide(Quaternion a, Quaternion b);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Divides B from A quaternion
	 *        returns quotient quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion add(Quaternion a, Quaternion b);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Adds A and B quaternions
	 *        returns resultant quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	Quaternion subtract(Quaternion a, Quaternion b);
	/*------------------------------------------------------
	 * Pre  :
	 * Post : Subtracts B from A quaternion
	 *        returns resultant quaternion
	 *
	 *-- History ------------------------------------------
	 *
	 * 2002.05.08:
	 * Mongoose - Created
	 ------------------------------------------------------*/

	////////////////////////////////////////////////////////////
	// Private Mutators
	////////////////////////////////////////////////////////////

	vec_t mW, mX, mY, mZ;          /* Quaternion */
};

#endif