MC_quaternion.hpp

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/*
**    Mesh Converter
**    Copyright (C) 2009 Damien Rohmer
**
**    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 3 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, see <http://www.gnu.org/licenses/>.
*/



#ifndef MC_MC_QUATERNION_HPP
#define MC_MC_QUATERNION_HPP

#include <iostream>
#include <cmath>

#include <MC_v4d.hpp>
#include <vector>




namespace mesh_conv
{

    class MC_v3d;
    class MC_v3d_vector;
    class MC_double_vector;


    class MC_quaternion : public MC_v4d
    {
    public:

        //*********************************************//
        //*********************************************//
        // CONSTRUCTORS
        //*********************************************//
        //*********************************************//

        MC_quaternion();
        MC_quaternion(const MC_v3d& axis,const double& angle);
        MC_quaternion(const MC_v4d& v);
        MC_quaternion(const MC_quaternion& q);
        MC_quaternion(const double& x,const double& y,const double& z,const double& w);



        //*********************************************//
        //*********************************************//
        // Math Operator
        //*********************************************//
        //*********************************************//

        MC_matrix matrix() const;

        MC_quaternion conjugated() const;

        friend MC_quaternion operator*(const MC_quaternion& q0,const MC_quaternion& q1);
        MC_quaternion& operator*=(const MC_quaternion& q1);



        MC_quaternion pow(const double& t) const;

        MC_quaternion inverted() const;


        MC_v3d log() const;

        static MC_quaternion exp(const MC_v3d& v);

        static MC_quaternion slerp(const MC_quaternion& q0,const MC_quaternion& q1,const double& t);


        static MC_quaternion quat_interp(const std::vector <MC_quaternion>& quaternion_vec,const MC_double_vector& weights);
        static MC_matrix quat_interp(const std::vector <MC_matrix>& matrix_vec,const MC_double_vector& weights);
        static MC_matrix quat_interp(const std::vector <MC_quaternion>& quaternion_vec,const MC_double_vector& weights,const MC_v3d_vector& translation_vec);


        //*********************************************//
        //*********************************************//
        // GET
        //*********************************************//
        //*********************************************//

        MC_v3d axis() const;
        double angle() const;

        //*********************************************//
        //*********************************************//
        // OUTPUT
        //*********************************************//
        //*********************************************//


    private:


    };



}

#endif // MC_v4d_HPP