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Lib/Include/CML/quaternion.h

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+/* -*- C++ -*- ------------------------------------------------------------
+ 
+Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
+
+The Configurable Math Library (CML) is distributed under the terms of the
+Boost Software License, v1.0 (see cml/LICENSE for details).
+
+ *-----------------------------------------------------------------------*/
+/** @file
+ *  @brief
+ */
+
+#ifndef cml_quaternion_h
+#define cml_quaternion_h
+
+#include <cml/core/common.h>
+
+namespace cml {
+
+// NOTE: 'scale' constant no longer used.
+
+/** Helper to specify v1^v2 multiplication order. */
+struct positive_cross {
+    /*enum { scale = 1 };*/
+};
+
+/** Helper to specify v2^v1 multiplication order. */
+struct negative_cross {
+    /*enum { scale = -1 };*/
+};
+
+/** Helper to specify scalar-first quaternion ordering. */
+struct scalar_first {
+    enum { W, X, Y, Z };
+};
+
+/** Helper to specify vector-first quaternion ordering. */
+struct vector_first {
+    enum { X, Y, Z, W };
+};
+
+/** A configurable quaternion.
+ *
+ * This class encapsulates the notion of a quaternion.  The ArrayType
+ * template argument can be used to select the type of array to be used as
+ * internal storage for the quaternion's coefficients.
+ *
+ * @note Quaternions with two different orders cannot be used in the same
+ * expression.
+ */
+template<typename Element, class ArrayType = fixed<>,
+    class Order = scalar_first, class Cross = positive_cross> class quaternion;
+
+} // namespace cml
+
+#include <cml/quaternion/quaternion_ops.h>
+#include <cml/quaternion/conjugate.h>
+#include <cml/quaternion/quaternion_mul.h>
+#include <cml/quaternion/quaternion_functions.h>
+#include <cml/quaternion/quaternion_comparison.h>
+#include <cml/quaternion/inverse.h>
+#include <cml/quaternion/quaternion.h>
+#include <cml/quaternion/quaternion_print.h>
+#endif
+
+// -------------------------------------------------------------------------
+// vim:ft=cpp