libcruft-util/quaternion.hpp

/*
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 * Copyright 2011 Danny Robson <danny@nerdcruft.net>
 */

#ifndef __UTIL_QUATERNION_HPP
#define __UTIL_QUATERNION_HPP

#include "vector.hpp"

namespace util {
    template <typename T>
    struct quaternion {
        T w, x, y, z;

        static const quaternion IDENTITY;

        static quaternion rotation (T radians, vector<3,T> axis);
        static quaternion rotation (vector<3,T> from, vector<3,T> to);

        quaternion operator* (const quaternion&) const;
    };
}


#endif