/************************************************************************
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POLHEMUS PROPRIETARY
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Polhemus
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P.O. Box 560
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Colchester, Vermont 05446
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(802) 655-3159
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Copyright © 2005 by Polhemus
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All Rights Reserved.
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*************************************************************************/
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// Quaternion.h: interface for the CQuaternion class.
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//
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//////////////////////////////////////////////////////////////////////
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#if !defined(AFX_QUATERNION_H__D76D8B96_F74D_41A4_869E_C3A397F9AA7A__INCLUDED_)
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#define AFX_QUATERNION_H__D76D8B96_F74D_41A4_869E_C3A397F9AA7A__INCLUDED_
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const float PI=3.14159265f;
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const float DEG2RADS=PI/180.0f;
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class CQuaternion
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{
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private:
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void Normalize();
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float q0;
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float q1;
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float q2;
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float q3;
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public:
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CQuaternion Slerp(const CQuaternion& q, float t) const;
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CQuaternion operator+(const CQuaternion& q1) const;
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void GetAngle(float& a,bool deg=true);
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void SetFromEulers(float* eul, bool deg=true);
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void MakeLargestElementPos();
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static void Quats2Eul(float* eul,float* quats,bool isDeg=true);
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static void Eul2Quat(float* quat,float* eul,bool isDeg=true);
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bool IsIdentity();
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void SetQuatVals(const float w,const float x,const float y,const float z);
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void SetQuatVals(const float val[4]);
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float GetQuatVal(int ind) const;
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void GetQuatVal(float vals[4]) const;
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CQuaternion operator-(const CQuaternion& quat)const;
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CQuaternion GetDeltaQuat(const CQuaternion& quat) const;
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void GetAxisAngle(float vect[3],float& angle,bool deg=true) const;
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CQuaternion operator -() const;
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CQuaternion operator*(const CQuaternion& quat2) const;
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CQuaternion operator*(const float ) const;
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void operator *=(const CQuaternion &quat);
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void GetAttMat(float mat[3][3]) const;
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void GetEuler(float aer[3],bool deg=true) const;
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void GetEuler(float& az,float& el,float& rl,bool deg=true) const;
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CQuaternion(const float vect[3],float angle,bool deg=true);
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CQuaternion(float q0,float q1,float q2,float q3);
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CQuaternion(const float q[4]);
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CQuaternion(float az, float el,float roll,bool deg=true);
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CQuaternion();
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virtual ~CQuaternion();
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};
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#endif // !defined(AFX_QUATERNION_H__D76D8B96_F74D_41A4_869E_C3A397F9AA7A__INCLUDED_)
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