quaternion.h

// Description: Quaternion

#ifndef PASTELMATH_QUATERNION_H
#define PASTELMATH_QUATERNION_H

#include "pastel/sys/mytypes.h"
#include "pastel/sys/vector.h"

namespace Pastel
{

    //! A quaternion.

    template <typename Real>
    class Quaternion
    {
    public:
        // Using default copy constructor
        // Using default destructor
        // Using default assignment

        Quaternion();
        explicit Quaternion(const Vector<Real, 3>& that);
        explicit Quaternion(const Vector<Real, 4>& that);
        Quaternion(const Real& x, const Real& y,
            const Real& z, const Real& w);

        void mulVector(Vector<Real, 3>& vec) const;

        Quaternion<Real>& operator*=(const Quaternion<Real>& that);
        Quaternion<Real>& operator+=(const Quaternion<Real>& that);
        Quaternion<Real>& operator-=(const Quaternion<Real>& that);

        Quaternion<Real> operator*(const Quaternion<Real>& that) const;
        Quaternion<Real> operator+(const Quaternion<Real>& that) const;
        Quaternion<Real> operator-(const Quaternion<Real>& that) const;

        Quaternion<Real>& operator*=(const Real& that);
        Quaternion<Real>& operator/=(const Real& that);

        Quaternion<Real> operator*(const Real& that) const;
        Quaternion<Real> operator/(const Real& that) const;

        friend Quaternion<Real> operator*(
            const Real& left, const Quaternion<Real>& right)
        {
            Quaternion<Real> result(right);
            result *= left;
            return result;
        }

        void setRotation(const Vector<Real, 3>& axis,
            const Real& angle);
        void conjugate();
        void invert();
        Real norm() const;
        Real norm2() const;
        void normalize();

    private:
        Real x_;
        Real y_;
        Real z_;
        Real w_;
    };

}

#include "pastel/math/quaternion/quaternion.hpp"

#endif