quaternion.h

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/*
Open Asset Import Library (assimp)
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#pragma once
#ifndef AI_QUATERNION_H_INC
#define AI_QUATERNION_H_INC

#ifdef __cplusplus

#include "defs.h"

template <typename TReal> class aiVector3t;
template <typename TReal> class aiMatrix3x3t;

// ---------------------------------------------------------------------------
template <typename TReal>
class aiQuaterniont
{
public:
    aiQuaterniont() : w(1.0), x(), y(), z() {}
    aiQuaterniont(TReal pw, TReal px, TReal py, TReal pz)
        : w(pw), x(px), y(py), z(pz) {}

    explicit aiQuaterniont( const aiMatrix3x3t<TReal>& pRotMatrix);

    aiQuaterniont( TReal rotx, TReal roty, TReal rotz);

    aiQuaterniont( aiVector3t<TReal> axis, TReal angle);

    explicit aiQuaterniont( aiVector3t<TReal> normalized);

    aiMatrix3x3t<TReal> GetMatrix() const;

public:

    bool operator== (const aiQuaterniont& o) const;
    bool operator!= (const aiQuaterniont& o) const;

    bool Equal(const aiQuaterniont& o, TReal epsilon = 1e-6) const;

public:

    aiQuaterniont& Normalize();

    aiQuaterniont& Conjugate ();

    aiVector3t<TReal> Rotate (const aiVector3t<TReal>& in);

    aiQuaterniont operator* (const aiQuaterniont& two) const;

public:

    static void Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart,
        const aiQuaterniont& pEnd, TReal pFactor);

public:

    TReal w, x, y, z;
} ;

typedef aiQuaterniont<ai_real> aiQuaternion;

#else

struct aiQuaternion {
    ai_real w, x, y, z;
};

#endif

#endif // AI_QUATERNION_H_INC