Quaternion.h

// Copyright eeGeo Ltd (2012-2014), All Rights Reserved

#pragma once

#include "VectorMathDecl.h"

namespace Eegeo
{
    class Quaternion
    {
    public:
        float x, y, z, w;
        
        Quaternion              ();
        Quaternion              (float nx, float ny, float nz, float nw);
        
        void Identity           ();
        void Normalise          ();
        
        void Set                (const Eegeo::v3& v3Axis, float angle);
        void GetAxisAngle       (Eegeo::v3& v3Axis, float& angle) const;
        void GetMatrix          (Eegeo::m44& matrix) const;
        Eegeo::v3 RotatePoint   (Eegeo::v3 point) const;
        
        static void Multiply    (Quaternion& dest, const Quaternion& source1, const Quaternion& source2);
        static void Slerp       (Quaternion& dest, const Quaternion& source1, const Quaternion& source2, float delta);
        
        static Quaternion ExtractQuaternion(const Eegeo::m33 & inMat);
        static void ExtractQuaternion(Quaternion& outQuat, const Eegeo::m33 & inMat);
        
        static Quaternion CreateIdentity();
    };

}