Quaternion.h

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//! @file Quaternion.h
//! CQuaternion class definition for handling quaternion
//!
//
//////////////////////////////////////////////////////////////////////
 
#if !defined(AFX_QUATERNION_H__04F856D9_60E8_45A9_993A_335E6079939E__INCLUDED_)
#define AFX_QUATERNION_H__04F856D9_60E8_45A9_993A_335E6079939E__INCLUDED_
 
#ifdef _MSC_VER
#pragma once
#endif // _MSC_VER
 
BEGIN_MOOTOOLS_NAMESPACE
 
//! @class CQuaternion
//! @brief The class defines a quaternion transformation
//! 
class DLL_3DFUNCTION CQuaternion
{
public:
    double val[4];
 
public:
    CQuaternion();
    CQuaternion(double h, double p, double b);
    CQuaternion(const C3DVector& v, double f);
    CQuaternion(double a, double b, double c, double d);
    CQuaternion(const double *p);
    CQuaternion(const float* p);
 
    //! @name Values access
    //! @{
    double& operator[](const int n);
    double* ValPtr();
    const double* ValPtr() const;
 
    //! @}
 
    //! @name operators
    //! @{
    const CQuaternion& operator*=(const CQuaternion& q);
    CQuaternion operator*(const CQuaternion& quat) const;
    CQuaternion operator*(double f) const;
    CQuaternion operator/(double f) const;
    CQuaternion operator+(const CQuaternion& quat) const;
    CQuaternion& operator=(const C3DVector& vec);
    CQuaternion& operator=(const CQuaternion& quat);
    bool operator==(const CQuaternion&) const;
    bool operator!=(const CQuaternion&) const;
    CQuaternion& operator=(const C4x4Matrix& m);
 
    //! @}
 
    void Rotate(const C3DVector& vAxis, double fAngle);
    void Rotate(const CQuaternion& quat);
 
    void SetAxisAngle(const C3DVector& vAxis, double radians);
    bool GetAxisAngle(C3DVector& vAxis, double& radians) const;
    void GetHPBAngles(double& heading, double& pitch, double& bank) const;
 
    static CQuaternion Slerp(const CQuaternion &q1, const CQuaternion &q2, const float t);
 
    bool IsIdentity(double precision = PRECISION_LIMIT) const;
    bool IsValid() const;
 
    // Magnitude/normalize methods
    double MagnitudeSquared() const;
    double Magnitude() const;
    void  Normalize();
};
 
inline double* CQuaternion::ValPtr()
{
    return(val);
}
 
inline const double* CQuaternion::ValPtr() const
{
    return(val);
}
 
END_MOOTOOLS_NAMESPACE
 
#endif // !defined(AFX_QUATERNION_H__04F856D9_60E8_45A9_993A_335E6079939E__INCLUDED_)