IvfQuat.h

//
// Copyright 1999-2006 by Structural Mechanics, Lund University.
//
// This library is free software; you can redistribute it and/or
// modify it under the terms of the GNU Library General Public
// License as published by the Free Software Foundation; either
// version 2 of the License, or (at your option) any later version.
//
// This library is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
// Library General Public License for more details.
//
// You should have received a copy of the GNU Library General Public
// License along with this library; if not, write to the Free Software
// Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307
// USA.
//
// Please report all bugs and problems to "ivf@byggmek.lth.se".
//
//
// Written by Jonas Lindemann
//

#ifndef _CIvfQuat_h_
#define _CIvfQuat_h_

#include <ivfmath/IvfMathBase.h>
#include <ivfmath/IvfVec3d.h>

IvfSmartPointer(CIvfQuat);

class IVFMATH_API CIvfQuat : public CIvfMathBase {
private:
        CIvfVec3d m_q;
        double m_qw;
public:
        CIvfQuat();
        
        CIvfQuat(CIvfQuat& v);

        virtual ~CIvfQuat();

        IvfClassInfo("CIvfQuat",CIvfMathBase);

        void getComponents(double &qx, double &qy, double &qz, double &qw);
        void setComponents(double qx, double qy, double qz, double qw);

        CIvfVec3d& getVectorPart();
        double getRealPart();

        void getAxisAngle(double& vx, double& vy, double &vz, double &angle);
        void setFromAxisAngle(double vx, double vy, double vz, double angle);
        void setRealPart(double value);
        CIvfQuat& inv();
        double norm();
        void identity();
        CIvfQuat& conjugate();

        CIvfQuat& operator=(CIvfQuat& a);
        CIvfQuat& operator*(CIvfQuat& a);
        CIvfQuat& operator*(double b);
        CIvfQuat& operator/(double b);
        CIvfQuat& operator+(CIvfQuat& a);
        CIvfQuat& operator-(CIvfQuat& a);
};

CIvfQuat& ivfGetTempQuat();

#endif 

---