FXQuatf.h

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/********************************************************************************
*                                                                               *
*              S i n g l e - P r e c i s i o n  Q u a t e r n i o n             *
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*********************************************************************************
* Copyright (C) 1994,2006 by Jeroen van der Zijp.   All Rights Reserved.        *
*********************************************************************************
* This library is free software; you can redistribute it and/or                 *
* modify it under the terms of the GNU Lesser General Public                    *
* License as published by the Free Software Foundation; either                  *
* version 2.1 of the License, or (at your option) any later version.            *
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* This library 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             *
* Lesser General Public License for more details.                               *
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* You should have received a copy of the GNU Lesser General Public              *
* License along with this library; if not, write to the Free Software           *
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA.    *
*********************************************************************************
* $Id: FXQuatf.h,v 1.17 2006/01/22 17:58:07 fox Exp $                           *
********************************************************************************/
#ifndef FXQUATF_H
#define FXQUATF_H


namespace FX {


class FXMat3f;


class FXAPI FXQuatf : public FXVec4f {
public:

  FXQuatf(){}

  FXQuatf(const FXQuatf& q):FXVec4f(q){}

  FXQuatf(FXfloat xx,FXfloat yy,FXfloat zz,FXfloat ww):FXVec4f(xx,yy,zz,ww){}

  FXQuatf(const FXfloat v[]):FXVec4f(v){}

  FXQuatf(const FXVec3f& axis,FXfloat phi=0.0f);

  FXQuatf(FXfloat roll,FXfloat pitch,FXfloat yaw);

  FXQuatf(const FXVec3f& fr,const FXVec3f& to);

  FXQuatf(const FXVec3f& ex,const FXVec3f& ey,const FXVec3f& ez);

  FXQuatf(const FXMat3f& mat);

  FXQuatf& adjust();

  void setAxisAngle(const FXVec3f& axis,FXfloat phi=0.0f);

  void getAxisAngle(FXVec3f& axis,FXfloat& phi) const;

  void setRollPitchYaw(FXfloat roll,FXfloat pitch,FXfloat yaw);
  void getRollPitchYaw(FXfloat& roll,FXfloat& pitch,FXfloat& yaw) const;

  void setYawPitchRoll(FXfloat yaw,FXfloat pitch,FXfloat roll);
  void getYawPitchRoll(FXfloat& yaw,FXfloat& pitch,FXfloat& roll) const;

  void setRollYawPitch(FXfloat roll,FXfloat yaw,FXfloat pitch);
  void getRollYawPitch(FXfloat& roll,FXfloat& yaw,FXfloat& pitch) const;

  void setPitchRollYaw(FXfloat pitch,FXfloat roll,FXfloat yaw);
  void getPitchRollYaw(FXfloat& pitch,FXfloat& roll,FXfloat& yaw) const;

  void setPitchYawRoll(FXfloat pitch,FXfloat yaw,FXfloat roll);
  void getPitchYawRoll(FXfloat& pitch,FXfloat& yaw,FXfloat& roll) const;

  void setYawRollPitch(FXfloat yaw,FXfloat roll,FXfloat pitch);
  void getYawRollPitch(FXfloat& yaw,FXfloat& roll,FXfloat& pitch) const;

  void setAxes(const FXVec3f& ex,const FXVec3f& ey,const FXVec3f& ez);

  void getAxes(FXVec3f& ex,FXVec3f& ey,FXVec3f& ez) const;

  FXVec3f getXAxis() const;

  FXVec3f getYAxis() const;

  FXVec3f getZAxis() const;

  FXQuatf exp() const;

  FXQuatf log() const;

  FXQuatf invert() const;

  FXQuatf unitinvert() const;

  FXQuatf conj() const;

  FXQuatf& arc(const FXVec3f& a,const FXVec3f& b);

  FXQuatf& lerp(const FXQuatf& u,const FXQuatf& v,FXfloat f);

  FXQuatf operator*(const FXQuatf& q) const;

  FXVec3f operator*(const FXVec3f& v) const;
  };


}

#endif

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(C) 2002-2009 Niall Douglas. Some parts (C) to assorted authors.