Initial commit

Torque/SDK/lib/dtsSDK/DTSQuaternion.h

@@ -0,0 +1,59 @@
+#ifndef __DTSQUATERNION_H
+#define __DTSQUATERNION_H
+
+#include "DTSVector.h"
+#include "DTSMatrix.h"
+#include "DTSPoint.h"
+
+namespace DTS
+{   
+   //! Defines a quaternion. Used for rotation information.
+
+   class Quaternion : public Vector <float, 4>
+   {  
+      public:
+
+         Quaternion() {}
+         Quaternion(const Quaternion &n) : Vector<float,4>(n) {}
+         Quaternion(const Vector<float,4> &n) : Vector<float,4>(n) {}
+         Quaternion(float X, float Y, float Z, float W) { x(X),y(Y),z(Z),w(W); }
+         Quaternion(float angle, float latitude, float longitude) ;
+         Quaternion(const Matrix<4,4> &m) ;
+         Quaternion(const Point &axis, float angle) { fromAxis(axis,angle); }
+         
+         float x() const  { return get(0); }
+         float y() const  { return get(1); }
+         float z() const  { return get(2); }
+         float w() const  { return get(3); }
+         void  x(float n) { set (0, n) ; }
+         void  y(float n) { set (1, n) ; }
+         void  z(float n) { set (2, n) ; }
+         void  w(float n) { set (3, n) ; }
+
+         // -------------------------------------------------------------
+
+         Quaternion  conjugate() const { return Quaternion (-x(),-y(),-z(),w()) ; }
+         Quaternion  inverse() const ;
+         Matrix<4,4> toMatrix() const ;
+         void        fromMatrix (const Matrix<4,4> &m) ;
+         void        fromAxis   (Point axis, float angle) ;
+         float       angleBetween (const Quaternion &) const ;
+         Point       apply (const Point &) const ;
+
+         friend Quaternion operator * (const Quaternion &a, const Quaternion &b) ;
+         Quaternion & operator *= (const Quaternion &a) { return (*this) = (*this) * a; }
+
+         // -------------------------------------------------------------
+
+         static Quaternion identity ;
+   };
+
+
+   inline std::ostream & operator << (std::ostream &out, const Quaternion &q)
+   {
+      out << std::setprecision(2) << std::setiosflags(std::ios::fixed) ;
+      return out << "[ " << q.x() << ' ' << q.y() << ' ' << q.z() << ' ' << q.w() << " ]" ;
+   }
+}
+
+#endif