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/*==LICENSE==*
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CyanWorlds.com Engine - MMOG client, server and tools
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Copyright (C) 2011 Cyan Worlds, Inc.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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Additional permissions under GNU GPL version 3 section 7
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If you modify this Program, or any covered work, by linking or
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combining it with any of RAD Game Tools Bink SDK, Autodesk 3ds Max SDK,
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NVIDIA PhysX SDK, Microsoft DirectX SDK, OpenSSL library, Independent
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JPEG Group JPEG library, Microsoft Windows Media SDK, or Apple QuickTime SDK
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(or a modified version of those libraries),
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containing parts covered by the terms of the Bink SDK EULA, 3ds Max EULA,
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PhysX SDK EULA, DirectX SDK EULA, OpenSSL and SSLeay licenses, IJG
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JPEG Library README, Windows Media SDK EULA, or QuickTime SDK EULA, the
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licensors of this Program grant you additional
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permission to convey the resulting work. Corresponding Source for a
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non-source form of such a combination shall include the source code for
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the parts of OpenSSL and IJG JPEG Library used as well as that of the covered
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work.
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You can contact Cyan Worlds, Inc. by email legal@cyan.com
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or by snail mail at:
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Cyan Worlds, Inc.
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14617 N Newport Hwy
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Mead, WA 99021
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*==LICENSE==*/
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#ifndef HSQUAT_inc
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#define HSQUAT_inc
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#include "hsGeometry3.h"
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struct hsMatrix44;
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//
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// Quaternion class.
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// For conversion to and from euler angles, see hsEuler.cpp,h.
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//
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class hsQuat {
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public:
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hsScalar fX,fY,fZ,fW;
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// Constructors
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hsQuat(){}
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hsQuat(hsScalar X, hsScalar Y, hsScalar Z, hsScalar W) :
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fX(X), fY(Y), fZ(Z), fW(W) {}
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hsQuat(const hsQuat& a) { fX = a.fX; fY = a.fY; fZ = a.fZ; fW = a.fW; }
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hsQuat(hsScalar af[4]) { fX = af[0]; fY = af[1]; fZ = af[2]; fW = af[3]; }
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hsQuat(hsScalar rad, const hsVector3* axis);
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static hsQuat QuatFromMatrix44(const hsMatrix44& mat);
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hsQuat& SetFromMatrix44(const hsMatrix44& mat);
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void SetFromMatrix(const hsMatrix44 *mat);
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void SetFromSlerp(const hsQuat &q1, const hsQuat &q2, hsScalar t, int spin=0);
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void Set(hsScalar X, hsScalar Y, hsScalar Z, hsScalar W)
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{ fX = X; fY = Y; fZ = Z; fW = W; }
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void GetAngleAxis(hsScalar *rad, hsVector3 *axis) const;
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void SetAngleAxis(const hsScalar rad, const hsVector3 &axis);
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hsPoint3 Rotate(const hsScalarTriple* v) const;
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// Access operators
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hsScalar& operator[](int i) { return (&fX)[i]; }
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const hsScalar& operator[](int i) const { return (&fX)[i]; }
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// Unary operators
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hsQuat operator-() const { return(hsQuat(-fX,-fY,-fZ,-fW)); }
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hsQuat operator+() const { return *this; }
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// Comparison
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int operator==(const hsQuat& a) const
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{ return (fX==a.fX && fY==a.fY && fZ==a.fZ && fW==a.fW); }
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void Identity() { fX = fY = fZ = (hsScalar)0.0; fW = (hsScalar) 1.0; }
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int IsIdentity() const
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{ return (fX==0.0 && fY==0.0 && fZ==0.0 && fW==1.0); }
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void Normalize();
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void NormalizeIfNeeded();
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void MakeMatrix(hsMatrix44 *mat) const;
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hsScalar Magnitude();
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hsScalar MagnitudeSquared();
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hsQuat Conjugate() const
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{ return hsQuat(-fX,-fY,-fZ,fW); }
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hsQuat Inverse() const;
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// Binary operators
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hsQuat operator-(const hsQuat&) const;
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hsQuat operator+(const hsQuat&) const;
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hsQuat operator*(const hsQuat&) const;
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hsQuat operator*(hsScalar f) const
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{ return hsQuat(fX*f,fY*f,fZ*f,fW*f); }
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hsQuat operator/(hsScalar f) const
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{ return hsQuat(fX/f,fY/f,fZ/f,fW/f); }
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hsQuat operator/(const hsQuat&) const;
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hsScalar Dot(const hsQuat &q2) const
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{ return (fX*q2.fX + fY*q2.fY + fZ*q2.fZ + fW*q2.fW); }
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// I/O
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void Read(hsStream *stream);
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void Write(hsStream *stream);
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};
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#endif
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