cs237-quat.hxx

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/*
 * COPYRIGHT (c) 2015 John Reppy (http://cs.uchicago.edu/~jhr)
 * All rights reserved.
 */

#ifndef _CS237_QUAT_HXX_
#define _CS237_QUAT_HXX_

#ifndef _CS237_HXX_
#error "c237-quat.hxx should not be included directly"
#endif

namespace cs237 {

    namespace __detail {

    template <typename T>
    struct quat {
        T x, y, z, w;

        quat () : x(T(0)), y(T(0)), z(T(0)), w(T(0)) { }
        quat (quat const &q) : x(q.x), y(q.y), z(q.z), w(q.w) { }
        explicit quat (T xx, T yy, T zz) : x(xx), y(yy), z(zz), w(T(0)) { }
        explicit quat (T xx, T yy, T zz, T ww) : x(xx), y(yy), z(zz), w(ww) { }
        explicit quat (vec3<T> const &v) : x(v.x), y(v.y), z(v.z), w(T(0)) { }
        explicit quat (vec3<T> const &v, T ww) : x(v.x), y(v.y), z(v.z), w(ww) { }

        explicit quat (T angle, vec3<T> const &axis);

        T & operator[] (unsigned int const &i);
        T const & operator[] (unsigned int const &i) const;

        quat & operator= (quat const &v);

        quat & operator+= (quat const &v);

        quat & operator-= (quat const &v);

        quat & operator*= (T const &s);
        quat & operator*= (quat const &q);
        quat & operator*= (vec3<T> const &v);

        quat & operator/= (T const &s);

        quat conjugate () const;
        quat inverse () const;

        T length () const;

        quat & normalize ();

        vec3<T> rotate (vec3<T> const &v) const;

        mat3x3<T> toMat3x3 () const;

        mat4x4<T> toMat4x4 () const;
    };

    template <typename T>
    std::ostream& operator<< (std::ostream& s, quat<T> const &v);

    } /* _namespace __detail */

    typedef __detail::quat<float> quatf;
    typedef __detail::quat<double> quatd;

} /* namespace cs237 */

#endif /* !_CS237_QUAT_HXX_ */