quaternion.h

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#include "vector.h"
#include "matrix.h"

#ifndef QUATERNION_H
#define QUATERNION_H

class quaternion
{
public:
    matrix3 to_matrix();

    quaternion();
    quaternion(float s, vec3 v);
    quaternion(float s, float x, float y, float z);
    quaternion conjugate() const;
    quaternion &compute_w();
    quaternion &normalize();
    float magnitude() const;

    quaternion &operator=(const quaternion &q);
    quaternion operator+(const quaternion &q) const ;
    quaternion operator-(const quaternion &q) const;
    quaternion operator-() const;
    quaternion operator*(const float scalar) const;
    quaternion operator/(const float scalar) const;
    quaternion operator*(const vec3 &vec) const;
    quaternion operator*(const quaternion &q) const;
    quaternion &operator*=(const quaternion &q);
    quaternion &operator+=(const quaternion &q);
    quaternion &operator-=(const quaternion &q);

    static void slerp(const quaternion &q, const quaternion &p, float time, quaternion &result);

    vec3 rotate(float delta, const vec3 &axis, const vec3 &vector);

    float s;
    float x;
    float y;
    float z;
};

#endif