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43 lines
749 B
C++
43 lines
749 B
C++
#ifndef UTIL_QUAT_H
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#define UTIL_QUAT_H
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/**
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* Quaternion class.
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*/
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class Quat
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{
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public:
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Quat();
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Quat(float x, float y, float z, float w);
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Quat(const float angles[3]);
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Quat(const float xAxis[3], const float yAxis[3], const float zAxis[3]);
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Quat(float angle, const float axis[3]);
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/**
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* For a unit quaternion, the conjugate is the inverse.
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*/
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Quat Conjugate() const;
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Quat Unit() const;
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void GetVectors(float xAxis[3], float yAxis[3], float zAxis[3]) const;
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void GetAngles(float outAngles[3]) const;
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public:
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float x;
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float y;
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float z;
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float w;
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};
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Quat operator*(const Quat& q1, const Quat& q2);
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Quat ConstantRateLerp(const Quat& src, const Quat& dst, float amount);
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#endif
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