iSDGE/Engine/Common/sgQuaternion.h

//
//      sgQuaternion.h
//      iSDGE
//
//      Created by Nils Daumann on 25.05.10.
//      Copyright (c) 2010 Nils Daumann

//      Permission is hereby granted, free of charge, to any person obtaining a copy
//      of this software and associated documentation files (the "Software"), to deal
//      in the Software without restriction, including without limitation the rights
//      to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//      copies of the Software, and to permit persons to whom the Software is
//      furnished to do so, subject to the following conditions:

//      The above copyright notice and this permission notice shall be included in
//      all copies or substantial portions of the Software.

//      THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//      IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
//      FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
//      AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
//      LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
//      OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
//      THE SOFTWARE.

#import <cmath>
#import "sgVector3.h"
#import "sgVector4.h"
#import "sgMatrix4x4.h"

class sgQuaternion
{
        public:
                sgQuaternion(const sgQuaternion &quat);
        
                sgQuaternion(float x_ = 0.0f, float y_ = 0.0f, float z_ = 0.0f, float w_ = 1.0f);
        
                sgQuaternion(const sgVector3 &rot);
        
                sgQuaternion(const sgVector4 &rot);

                bool operator== (sgQuaternion &other);
        
                bool operator!= (sgQuaternion &other);

                sgQuaternion &operator= (const sgQuaternion &other);
        
                sgQuaternion &operator= (const sgVector3 &other);
        
                sgQuaternion &operator= (const sgVector4 &other);

                sgQuaternion &operator+= (const sgQuaternion &other);
        
                sgQuaternion &operator-=  (const sgQuaternion &other);
        
                sgQuaternion &operator*= (const sgQuaternion &other);
        
                sgQuaternion &operator/=  (const sgQuaternion &other);

                sgQuaternion operator+ (const sgQuaternion &other);
        
                sgQuaternion operator- (const sgQuaternion &other);
        
                sgQuaternion operator* (const sgQuaternion &other);
        
                sgQuaternion operator/ (const sgQuaternion &other);
        
                sgQuaternion &operator+= (const sgVector3 &other);
        
                sgQuaternion &operator-= (const sgVector3 &other);
        
                sgQuaternion operator+ (const sgVector3 &other);
        
                sgQuaternion operator- (const sgVector3 &other);

                sgQuaternion &operator*= (const float &other);
        
                sgQuaternion &operator/=  (const float &other);

                sgQuaternion operator* (const float &other);
        
                sgQuaternion operator/ (const float &other);

                void makeIdentity();

                void makeEuler(const sgVector3 &rot);
        
                void makeEuler(const sgVector4 &rot);

                void makeAxisAngle(const sgVector3 &axis, float ang);
        
                void makeAxisAngle(const sgVector4 &axis);

                void makeLerpS(const sgQuaternion &quat1, const sgQuaternion &quat2, float fac);
        
                void makeLerpN(const sgQuaternion &quat1, const sgQuaternion &quat2, float fac);
        
                void makeLerpS(const sgQuaternion &other, float fac);
        
                void makeLerpN(const sgQuaternion &other, float fac);

                sgQuaternion lerpS(sgQuaternion &other, float fac);
        
                sgQuaternion lerpN(sgQuaternion &other, float fac);

                void normalize();
        
                void conjugate();

                float length();
        
                float dot(const sgQuaternion &other);
        
                sgVector3 rotate(const sgVector3 &vec);
        
                sgVector4 rotate(const sgVector4 &vec);

                sgMatrix4x4 getMatrix();
        
                sgVector3 getEuler();
        
                sgVector4 getAxisAngle();

                float x;
                
                float y;
                
                float z;
                
                float w;
};

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