Quaternion.h

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#ifndef ULT_MATH_QUATERNION_H_INCLUDED
#define ULT_MATH_QUATERNION_H_INCLUDED
 
#include <Ult/Math/Vector3D.h>
 
namespace Ult
{

class Quaternion
{
public:
    Quaternion();
    Quaternion(const Quaternion& q);
    Quaternion(const float x, const float y, const float z, const float w);
    
    Quaternion operator*(const Quaternion& q) const;
    Quaternion& operator=(const Quaternion& q);
    
    float Magnitude() const;
    void Normalize();
    Quaternion Conjugate() const;
    
    void RotationAxisToQuaternion(const float angle, const Vector3D& axis);
    void EulerToQuaternion(const Vector3D& euler);
    
    Quaternion CrossProduct(const Quaternion& q) const;
    
    void CreateMatrix(float* matrix) const;
    void MatrixToQuaternion(const float* matrix);
    
    void Slerp(const Quaternion& q1, const Quaternion& q2, float t);
    
    float x, y, z, w;
};
 
} // namespace Ult
 
#endif // ULT_MATH_QUATERNION_H_INCLUDED