libcruft-util/quaternion.hpp

41 lines
1.2 KiB
C++

/*
* This file is part of libgim.
*
* libgim is free software: you can redistribute it and/or modify it under the
* terms of the GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option) any later
* version.
*
* libgim is distributed in the hope that it will be useful, but WITHOUT ANY
* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
* details.
*
* You should have received a copy of the GNU General Public License
* along with libgim. If not, see <http://www.gnu.org/licenses/>.
*
* Copyright 2011 Danny Robson <danny@nerdcruft.net>
*/
#ifndef __UTIL_QUATERNION_HPP
#define __UTIL_QUATERNION_HPP
#include "annotations.hpp"
#include "vector.hpp"
namespace util {
struct quaternion {
double w, x, y, z;
static const quaternion IDENTITY;
static quaternion rotation (double radians, vector<3> axis) mustuse;
static quaternion rotation (vector<3> from, vector<3> to) mustuse;
quaternion operator* (const quaternion&) const;
};
}
#endif