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