/* * 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 */ #ifndef __UTIL_QUATERNION_HPP #define __UTIL_QUATERNION_HPP #include "vector.hpp" namespace util { template 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