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-
- #ifndef _MATH_QUATERNION_H_
- #define _MATH_QUATERNION_H_
-
- #include "math/math.h"
-
-
- class Quaternion {
- public:
-
-
-
- Quaternion();
-
-
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- Quaternion(float w, float x, float y, float z);
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-
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- Quaternion(float v[4]);
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-
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- void getMatrix(float m[16]);
-
-
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- Quaternion operator *(const Quaternion &q);
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-
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- Quaternion operator /(const Quaternion &q);
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-
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- Quaternion operator +(const Quaternion &q);
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-
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- Quaternion operator -(const Quaternion &q);
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-
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- bool operator ==(const Quaternion &q);
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-
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- Quaternion conjugate();
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-
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- Quaternion scale(float s);
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-
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- Quaternion inverse();
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-
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- static float dot(Quaternion a, Quaternion b);
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-
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- float magnitude();
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-
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- static Quaternion slerp(Quaternion a, Quaternion b, float time);
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-
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- void setIdentity();
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-
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- void set(float angle, float x, float y, float z);
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-
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- void normalize();
-
-
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- void copy(Quaternion q);
-
-
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- void setByMatrix(float m[16]);
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- private:
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-
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- static Quaternion multiply(Quaternion a, Quaternion b);
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-
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- static Quaternion divide(Quaternion a, Quaternion b);
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-
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- static Quaternion add(Quaternion a, Quaternion b);
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-
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- static Quaternion subtract(Quaternion a, Quaternion b);
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- float mW;
- float mX;
- float mY;
- float mZ;
- };
-
- #endif
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