90 lines
2.6 KiB
C++
90 lines
2.6 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 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 "vector.hpp"
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#include "matrix.hpp"
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#include <iostream>
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namespace util {
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template <typename T>
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struct quaternion {
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///////////////////////////////////////////////////////////////////////
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// Disable GCC warnings about validity of anonyous structures in
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// unions. Push comes to shove I'll manually redsign everything to
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// keep this syntax anyway.
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#pragma GCC diagnostic push
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#if defined(COMPILER_GCC)
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#pragma GCC diagnostic ignored "-pedantic"
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#endif
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#if defined(COMPILER_CLANG)
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#pragma GCC diagnostic ignored "-Wgnu"
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#endif
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union {
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struct { T w, x, y, z; };
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struct { T a, b, c, d; };
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T data[4];
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};
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#pragma GCC diagnostic pop
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static const quaternion IDENTITY;
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static quaternion rotation (T radians, vector<3,T> axis);
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static quaternion rotation (vector<3,T> src, vector<3,T> dst);
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quaternion (T a, T b, T c, T d);
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quaternion (T a);
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quaternion ();
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quaternion (vector<3,T>);
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T norm (void) const;
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T norm2 (void) const;
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quaternion normalised (void) const;
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quaternion operator- (void) const;
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quaternion conjugate (void) const;
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quaternion operator+ (const quaternion) const;
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quaternion operator- (const quaternion) const;
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quaternion operator* (const quaternion) const;
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quaternion operator/ (const quaternion) const;
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quaternion operator+ (const T) const;
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quaternion operator- (const T) const;
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quaternion operator* (const T) const;
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quaternion operator/ (const T) const;
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bool operator== (const quaternion) const;
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bool operator!= (const quaternion) const;
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matrix4<T> rotation_matrix (void) const;
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};
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typedef quaternion<float> quaternionf;
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template <typename T>
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std::ostream& operator<< (std::ostream&, quaternion<T>);
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}
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#endif
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