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quaternion.h

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/*
  svas_server -- virtual World Server of Svas
  Copyright (c) 2001, 2002 David Moreno Montero
 
 
  This program is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
 
  This program is distributed in the hope that it will be useful, but
  WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  General Public License for more details.
 
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA
  02111-1307, USA.  

*/

#ifndef __QUATERNION_H__
#define __QUATERNION_H__

#include <string>
#include "vector3d.h"

class Quaternion{
 protected:
  double u,x,y,z;
 public:
  Quaternion();
  Quaternion(double u,double x,double y,double z);
  /// Initialize a ROTATION quaternion with given paramaters
  Quaternion(const Vector3d &axis, double angle);

  string toString(void);
  double module();
  Vector3d getAxis(void);

  /**
   * @name Rotations
   * @{
   */
  /// Rotate the vector over the quaternion axis and angle
  Quaternion rotate(const Vector3d &v);
  /// Rotate q over MY axis and angle
  Quaternion rotate(const Quaternion &q);
  /// Rotate ME over axis and angle
  Quaternion rotate(const Vector3d &axis, double angle);

  /// Convert a vector in body coordinates to a vector in world coordinates (with me as base)
  Vector3d toWorld(const Vector3d &v);
  /// Convert a vector in world coordinates to a vector in body coordinates (with me as base)
  Vector3d toBody(const Vector3d &v);
  /** @} */

  Quaternion normalize(){ (*this)/=module(); return *this; }
  Quaternion normalized(){ return Quaternion(*this).normalize(); }

  /**
   * @name Some gets
   * @{
   */
  double U(){ return u; };
  double X(){ return x; };
  double Y(){ return y; };
  double Z(){ return z; };
  /** @} */
  
  /**
   * @name Operators
   * @{
   */
  Quaternion operator+=(const Quaternion &);
  Quaternion operator-=(const Quaternion &);
  Quaternion operator*=(double);
  Quaternion operator/=(double);
  Quaternion operator=(const Vector3d &);

  friend Quaternion operator~(const Quaternion &);
  friend Quaternion operator+(const Quaternion &,const Quaternion &);
  friend Quaternion operator-(const Quaternion &,const Quaternion &);
  friend Quaternion operator*(const Quaternion &,double);
  friend Quaternion operator/(const Quaternion &,double);

  friend Quaternion operator*(const Quaternion &,const Quaternion &);
  friend Quaternion operator*(const Quaternion &,const Vector3d &);
  friend Quaternion operator*(const Vector3d &,const Quaternion &);
  /** @} */
};

#include "quaternion.cc"

#endif

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