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include/framework/math/quaternion.h

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+/* -----------------------------------------------------------------------------
+	GSFramework
+	Copyright 2001-2013 Emmanuel Julien. All Rights Reserved.
+----------------------------------------------------------------------------- */
+
+
+#ifndef	__NQUATERNION__
+#define	__NQUATERNION__
+
+
+		#include "math/nmath.h"
+
+
+namespace GS {
+	struct Vector4;
+	class Matrix3;
+
+	namespace NML {
+		class File;
+		class Tag;
+	}
+
+/*!
+	@short	Quaternion.
+	@author Emmanuel Julien (ejulien@gsworks.fr)
+*/
+struct	Quaternion
+{
+		float		x, y, z, w;
+
+		void		operator += (const Quaternion &b)	{	x += b.x; y += b.y; z += b.z; w += b.w;	};
+		void		operator += (float k)				{	x += k; y += k; z += k;	w += k;	};
+		void		operator -= (const Quaternion &b)	{	x -= b.x; y -= b.y; z -= b.z; w -= b.w;	};
+		void		operator -= (float k)				{	x -= k; y -= k; z -= k;	w -= k;	};
+		void		operator *= (const Quaternion &b)
+		{
+			Quaternion t = *this;
+			w = t.w * b.w - (t.x * b.x + t.y * b.y + t.z * b.z);
+			x = t.w * b.x + b.w * t.x + t.y * b.z - t.z * b.y;
+			y = t.w * b.y + b.w * t.y + t.z * b.x - t.x * b.z;
+			z = t.w * b.z + b.w * t.z + t.x * b.y - t.y * b.x;
+		};
+		void		operator *= (float k)	{	x *= k; y *= k; z *= k;	w *= k;		};
+		void		operator /= (float k)	{	k = 1.f / k; x *= k; y *= k; z *= k; w *= k;	};
+
+		Quaternion	operator + (const Quaternion &b) const
+		{	return Quaternion(x + b.x, y + b.y, z + b.z, w + b.w);	}
+		Quaternion	operator + (float v) const
+		{	return Quaternion(x + v, y + v, z + v, w + v);	}
+		Quaternion	operator - (const Quaternion &b) const
+		{	return Quaternion(x - b.x, y - b.y, z - b.z, w - b.w);	}
+		Quaternion	operator - (float v) const
+		{	return Quaternion(x - v, y - v, z - v, w - v);	}
+		Quaternion	operator * (const Quaternion &b) const
+		{
+			return Quaternion	(
+									w * b.x + b.w * x + y * b.z - z * b.y,
+									w * b.y + b.w * y + z * b.x - x * b.z,
+									w * b.z + b.w * z + x * b.y - y * b.x,
+									w * b.w - (x * b.x + y * b.y + z * b.z)
+								);
+		}
+		Quaternion	operator * (float v) const
+		{	return Quaternion(x * v, y * v, z * v, w * v);	}
+		Quaternion	operator / (float v) const
+		{	v = 1.f / v; return Quaternion(x * v, y * v, z * v, w * v);	}
+
+		/// Dot product.
+		float		Dot(const Quaternion &b) const
+		{	return x * b.x + y * b.y + z * b.z + w * b.w;	}
+
+		/// Normalize quaternion.
+		Quaternion	Normalize() const;
+		/// Inverse quaternion.
+		Quaternion	Inverse() const;
+		/// To rotation matrix.
+		Matrix3		AsMatrix3() const;
+
+		/// Distance to quaternion.
+static	float		Distance(const Quaternion &a, const Quaternion &b);
+		/// Slerp.
+static	Quaternion Slerp(float t, const Quaternion &a, const Quaternion &b);
+
+		/// From Euler angle.
+static	Quaternion FromEuler(float x, float y, float z, Math::rOrder rorder = Math::rOrder_Default);
+		/// Get an orientation from a 'look at' vector (look_at = to - from).
+static	Quaternion LookAt(const Vector4 &at);
+		/// From matrix3.
+static	Quaternion FromMatrix3(const Matrix3 &m);
+		/// From axis-angle.
+static	Quaternion FromAxisAngle(float angle, float x, float y, float z);
+
+		/// Set quaternion values.
+		void		Set(float _x = 0, float _y = 0, float _z = 0, float _w = 1.f)
+		{	x = _x; y = _y; z = _z;	w = _w;		}
+
+		NML::Tag	*AsMetaTag(const char *id) const;
+		bool		FromMetaTag(NML::Tag &tag);
+
+		Quaternion(float _x = 0, float _y = 0, float _z = 0, float _w = 1.f)
+		{	Set(_x, _y, _z, _w);	}
+};
+
+} // GS
+
+
+#endif	// __NQUATERNION__