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-
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- 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);
-
-
-
- Quaternion &operator =(const Quaternion &q);
-
-
-
- Quaternion operator *(const Quaternion &q);
-
-
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- Quaternion operator /(const Quaternion &q);
-
-
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- Quaternion operator +(const Quaternion &q);
-
-
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- Quaternion operator -(const Quaternion &q);
-
-
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- bool operator ==(const Quaternion &q);
-
-
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- Quaternion conjugate();
-
-
-
- Quaternion scale(vec_t s);
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-
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- Quaternion inverse();
-
-
-
- static vec_t dot(Quaternion a, Quaternion b);
-
-
-
- vec_t magnitude();
-
-
-
- static Quaternion slerp(Quaternion a, Quaternion b, vec_t time);
-
-
-
-
- ////////////////////////////////////////////////////////////
- // 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);
-
-
-
- Quaternion divide(Quaternion a, Quaternion b);
-
-
-
- Quaternion add(Quaternion a, Quaternion b);
-
-
-
- Quaternion subtract(Quaternion a, Quaternion b);
-
-
-
- ////////////////////////////////////////////////////////////
- // Private Mutators
- ////////////////////////////////////////////////////////////
-
- vec_t mW, mX, mY, mZ; /* Quaternion */
- };
-
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