raQuaternion.h

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#pragma once

    class RAPI raQuaternion
    {
      public:
          union
          {
              struct
              {
                  raVector3       v;
                  float           s;
              };
              float qu[4];
          };
        raQuaternion() : s(1.0f), v(raVector3(0.0f))                        {}
        raQuaternion(const raVector3 &angles);
        raQuaternion(float Angle, raVector3 Axis);
        raQuaternion(raVector3 Axis, float Angle);
        raQuaternion(float fs, float fx, float fy, float fz);
        raQuaternion(float *pfs);
        raQuaternion(raMatrix mat);

        operator float* ()                                                      { return (float*)(qu); }
        operator void*  ()                                                      { return (void*)(qu); }
        operator const float* () const                                          { return (float*)qu; }

        raQuaternion& operator =  (const raQuaternion& q)                               { v = q.v; s = q.s; return *this; }
        raQuaternion& operator += (const raQuaternion& q)                               { v += q.v; s += q.s; return *this; }
        raQuaternion& operator -= (const raQuaternion& q)                               { v -= q.v; s -= q.s; return *this; }
        raQuaternion& operator *= (const raQuaternion& q);      //
        raQuaternion& operator *= (const float f);
        raQuaternion& operator /= (const raQuaternion& q);      //
        raQuaternion& operator /= (const float f);

        raVector3 GetRotationAxis() const;
        float     GetRotationAngle() const;
    };
    RAPI raQuaternion operator * (const raQuaternion& a,const raQuaternion& b); //
    RAPI raQuaternion operator * (const float a,const raQuaternion& b);
    RAPI raQuaternion operator * (const raQuaternion& a,const float b);         //

    RAPI raQuaternion operator + (const raQuaternion& a,const raQuaternion& b); //
    RAPI raQuaternion operator - (const raQuaternion& a,const raQuaternion& b); //
    RAPI raQuaternion operator - (const raQuaternion& a); //
    RAPI raQuaternion operator / (const raQuaternion& a,const raQuaternion& b);
    RAPI raQuaternion operator / (const raQuaternion& a, const float b);    //
    RAPI raQuaternion operator / (const float a, const raQuaternion& b);

    inline bool operator == (const raQuaternion& a, const raQuaternion& b)                          { return ((a.v == b.v) && (a.s == b.s)); }
    inline bool operator != (const raQuaternion& a, const raQuaternion& b)                          { return !(a==b); }
    inline bool operator <= (const raQuaternion& a, const raQuaternion& b)                          { return ((a.v <= b.v) && (a.s <= b.s)); }
    inline bool operator >= (const raQuaternion& a, const raQuaternion& b)                          { return ((a.v >= b.v) && (a.s >= b.s)); }
    inline bool operator < (const raQuaternion& a, const raQuaternion& b)                           { return ((a.v < b.v) && (a.s < b.s)); }
    inline bool operator > (const raQuaternion& a, const raQuaternion& b)                           { return ((a.v > b.v) && (a.s > b.s)); }

    inline raQuaternion raQuaternionIdenty()                                                        { return raQuaternion(1.0f, 0.0f, 0.0f, 0.0f); }
    inline float raQuaternionLenght(const raQuaternion& v)                                          { return sqrtf(v.s * v.s + (float)v.v.x * (float)v.v.x + (float)v.v.y * (float)v.v.y + (float)v.v.z * (float)v.v.z); }
    inline float raQuaternionLenghtSq(const raQuaternion& v)                                        { return (v.s * v.s + (float)v.v.x * (float)v.v.x + (float)v.v.y * (float)v.v.y + (float)v.v.z * (float)v.v.z); }

    RAPI raQuaternion raQuaternionExp(const raQuaternion& v); //
    RAPI raQuaternion raQuaternionLog(const raQuaternion& v); //
    RAPI raQuaternion raQuaternionPow(const raQuaternion& v, float Exp);
    RAPI float        raQuaternionDot(const raQuaternion &a, const raQuaternion &b);        // Dot Product

    RAPI raQuaternion raQuaternionInvert(const raQuaternion &q);

    RAPI raQuaternion raQuaternionNormalize(const raQuaternion& v);
    RAPI raQuaternion raQuaternionFromAxis(const float Angle, raVector3 Axis);
    RAPI raMatrix     raQuaternionToMatrix(const raQuaternion& v);
    RAPI raQuaternion raQuaternionConjugate(const raQuaternion& v);
    RAPI raQuaternion raQuaternionSlerp(const raQuaternion &q0, const raQuaternion &q1, float t);   // Spherical linear interpolation.

    RAPI raQuaternion raQuaternionPower(const raQuaternion& qu, float degree);

    RAPI raQuaternion raQuaternionSin(const raQuaternion &q);
    RAPI raQuaternion raQuaternionCos(const raQuaternion &q);
    RAPI raQuaternion raQuaternionTan(const raQuaternion &q);
    RAPI raQuaternion raQuaternionCTan(const raQuaternion &q);