Quaternion.h

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#ifndef _QUATERNION_H_
#define _QUATERNION_H_
 
#include "Matrix.h"
#include "Vector.h"
 
class Quaternion {
  public:
    Quaternion();
    Quaternion(const Vector&);
    Quaternion(const float&, const float&, const float&);
    Quaternion(const Vector&, const float&);
    Quaternion(const float&, const float&, const float&, const float&);
    Quaternion(const Quaternion &);
    ~Quaternion() {}

    void normalize();

    void buildFromEuler(const Vector&);
    void buildFromEuler(const float&, const float&, const float&);
    void buildFromAxis(const Vector&, const float&);
 
    void loadMultIdentity();
    void loadAddIdentity();

    void getEulerAngles(Vector&);
 
    void buildRotationMatrix(Matrix&);

    void slerp(const Quaternion &, const float&, const Quaternion&);
 
    // accessor functions
    float getX() const { return(x); }
    float getY() const { return(y); }
    float getZ() const { return(z); }
    float getW() const { return(w); }
 
    // overloaded operators
    Quaternion operator+(const Quaternion&) const;
    Quaternion operator*(const Quaternion&) const;
    Quaternion& operator=(const Quaternion&);
 
  private:
    float x, y, z, w;
};
 
#endif