132 lines
3.6 KiB
C++
132 lines
3.6 KiB
C++
/*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Copyright 2011-2016 Danny Robson <danny@nerdcruft.net>
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*/
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#ifndef __UTIL_QUATERNION_HPP
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#define __UTIL_QUATERNION_HPP
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#include "coord.hpp"
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#include "vector.hpp"
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#include "matrix.hpp"
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#include <ostream>
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namespace util {
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// quaternion's are _just_ different enough to other coord types that we
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// special case as a distinct POD type and provide many of the same
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// functions as distinct declarations.
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//
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// issues include:
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// * strictly 4 dimensions
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// * scalar operations sometimes don't make sense on the w component
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// * objects must be normalised to make sense
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template <typename T>
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struct quaternion {
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T w, x, y, z;
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static quaternion angle_axis (T radians, vector<3,T> axis);
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static quaternion from_euler (vector<3,T>);
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static quaternion from_to (vector<3,T>, vector<3,T>);
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static quaternion look (vector<3,T> fwd, vector<3,T> up);
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matrix4<T> as_matrix (void) const;
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static constexpr quaternion<T> identity (void);
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};
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///////////////////////////////////////////////////////////////////////////
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template <typename T>
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vector3<T>
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rotate (vector3<T>, quaternion<T>);
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///////////////////////////////////////////////////////////////////////////
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template <typename T>
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constexpr
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T
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norm2 (quaternion<T>);
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template <typename T>
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constexpr
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T
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norm (quaternion<T>);
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template <typename T>
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constexpr
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bool
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is_normalised (quaternion<T>);
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template <typename T>
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constexpr
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quaternion<T>
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normalised (quaternion<T>);
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///////////////////////////////////////////////////////////////////////////
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template <typename T>
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quaternion<T>
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conjugate (quaternion<T>);
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///////////////////////////////////////////////////////////////////////////
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template <typename T>
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quaternion<T>
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operator* (quaternion<T>, quaternion<T>);
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//-------------------------------------------------------------------------
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template <typename T>
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quaternion<T>&
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operator*= (quaternion<T>&, quaternion<T>);
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//-------------------------------------------------------------------------
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template <typename T>
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quaternion<T>
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operator/ (quaternion<T>, quaternion<T>);
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//-------------------------------------------------------------------------
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template <typename T>
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constexpr
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quaternion<T>
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operator/ (quaternion<T>, T);
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///////////////////////////////////////////////////////////////////////////
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template <typename T>
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constexpr
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bool operator== (quaternion<T>, quaternion<T>);
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//-------------------------------------------------------------------------
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template <typename T>
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bool almost_equal (quaternion<T>, quaternion<T>);
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///////////////////////////////////////////////////////////////////////////
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typedef quaternion<float> quaternionf;
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typedef quaternion<double> quaterniond;
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///////////////////////////////////////////////////////////////////////////
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template <typename T>
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std::ostream&
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operator<< (std::ostream&, quaternion<T>);
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}
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#include "./quaternion.ipp"
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#endif
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