68 lines
1.8 KiB
C++
68 lines
1.8 KiB
C++
/* -*- 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
|