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/*==LICENSE==*
CyanWorlds.com Engine - MMOG client, server and tools
Copyright (C) 2011 Cyan Worlds, Inc.
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program 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 General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
You can contact Cyan Worlds, Inc. by email legal@cyan.com
or by snail mail at:
Cyan Worlds, Inc.
14617 N Newport Hwy
Mead, WA 99021
*==LICENSE==*/
#ifndef HSQUAT_inc
#define HSQUAT_inc
#include "hsGeometry3.h"
struct hsMatrix44;
//
// Quaternion class.
// For conversion to and from euler angles, see hsEuler.cpp,h.
//
class hsQuat {
public:
hsScalar fX,fY,fZ,fW;
// Constructors
hsQuat(){}
hsQuat(hsScalar X, hsScalar Y, hsScalar Z, hsScalar W) :
fX(X), fY(Y), fZ(Z), fW(W) {}
hsQuat(const hsQuat& a) { fX = a.fX; fY = a.fY; fZ = a.fZ; fW = a.fW; }
hsQuat(hsScalar af[4]) { fX = af[0]; fY = af[1]; fZ = af[2]; fW = af[3]; }
hsQuat(hsScalar rad, const hsVector3* axis);
static hsQuat QuatFromMatrix44(const hsMatrix44& mat);
hsQuat& SetFromMatrix44(const hsMatrix44& mat);
void SetFromMatrix(const hsMatrix44 *mat);
void SetFromSlerp(const hsQuat &q1, const hsQuat &q2, hsScalar t, int spin=0);
void Set(hsScalar X, hsScalar Y, hsScalar Z, hsScalar W)
{ fX = X; fY = Y; fZ = Z; fW = W; }
void GetAngleAxis(hsScalar *rad, hsVector3 *axis) const;
void SetAngleAxis(const hsScalar rad, const hsVector3 &axis);
hsPoint3 Rotate(const hsScalarTriple* v);
// Access operators
hsScalar& operator[](int i) { return (&fX)[i]; }
const hsScalar& operator[](int i) const { return (&fX)[i]; }
// Unary operators
hsQuat operator-() const { return(hsQuat(-fX,-fY,-fZ,-fW)); }
hsQuat operator+() const { return *this; }
// Comparison
int operator==(const hsQuat& a) const
{ return (fX==a.fX && fY==a.fY && fZ==a.fZ && fW==a.fW); }
void Identity() { fX = fY = fZ = (hsScalar)0.0; fW = (hsScalar) 1.0; }
int IsIdentity() const
{ return (fX==0.0 && fY==0.0 && fZ==0.0 && fW==1.0); }
void Normalize();
void NormalizeIfNeeded();
void MakeMatrix(hsMatrix44 *mat) const;
hsScalar Magnitude();
hsScalar MagnitudeSquared();
hsQuat Conjugate() const
{ return hsQuat(-fX,-fY,-fZ,fW); }
hsQuat Inverse();
// Binary operators
hsQuat operator-(const hsQuat&) const;
hsQuat operator+(const hsQuat&) const;
hsQuat operator*(const hsQuat&) const;
hsQuat operator*(hsScalar f) const
{ return hsQuat(fX*f,fY*f,fZ*f,fW*f); }
hsQuat operator/(hsScalar f) const
{ return hsQuat(fX/f,fY/f,fZ/f,fW/f); }
hsQuat operator/(const hsQuat&) const;
hsScalar Dot(const hsQuat &q2) const
{ return (fX*q2.fX + fY*q2.fY + fZ*q2.fZ + fW*q2.fW); }
// I/O
void Read(hsStream *stream);
void Write(hsStream *stream);
};
#endif