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extremetuxracer  0.5beta
quat.h
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00001 /* 
00002  * Copyright (C) 2004-2005 Volker Stroebel <volker@planetpenguin.de>
00003  *
00004  * This program is free software; you can redistribute it and/or
00005  * modify it under the terms of the GNU General Public License
00006  * as published by the Free Software Foundation; either version 2
00007  * of the License, or (at your option) any later version.
00008  * 
00009  * This program is distributed in the hope that it will be useful,
00010  * but WITHOUT ANY WARRANTY; without even the implied warranty of
00011  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012  * GNU General Public License for more details.
00013  * 
00014  * You should have received a copy of the GNU General Public License
00015  * along with this program; if not, write to the Free Software
00016  * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.
00017  */
00018  
00019 #ifndef _QUAT_H
00020 #define _QUAT_H
00021 
00022 
00023 #include "vec3d.h"
00024 #include "matrix.h"
00025 
00027 namespace pp {
00028 
00029 class Matrix;
00030 
00032 class Quat
00033 {
00034 public:
00035        double x;
00036        double y;
00037        double z;
00038        double w;
00039 
00040        Quat(void){};
00041        Quat(const double x, const double y, const double z, const double w); 
00042        Quat(const Vec3d& s, const Vec3d& t);
00043        Quat(const Matrix matrix);
00044        
00045        
00046        void set(const double x, const double y, const double z, const double w);    
00047 
00048        Quat conjugate(void) const;
00049        Vec3d rotate( const Vec3d& v ) const;
00050        
00051        Quat operator*(const Quat& quat) const;
00052 
00053        static Quat interpolate(const Quat& q, Quat r,double t );             
00054 };
00055 
00056 
00057 } //namespace pp
00058 
00059 #endif // QUAT_H