/*
Copyright (c) 2014 Alex Diener
This software is provided 'as-is', without any express or implied
warranty. In no event will the authors be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this software must not be misrepresented; you must not
claim that you wrote the original software. If you use this software
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
Alex Diener adiener@sacredsoftware.net
*/
#ifndef __Quaternion_H__
#define __Quaternion_H__
#ifdef __cplusplus
extern "C" {
#endif
typedef struct Quaternion Quaternion;
struct Quaternion {
float x;
float y;
float z;
float w;
};
#include "Matrix.h"
#include "Vector3f.h"
#include "Vector4f.h"
#define QUATERNION_IDENTITY ((Quaternion) {0.0f, 0.0f, 0.0f, 1.0f})
#define QUATERNION(x, y, z, w) ((Quaternion) {x, y, z, w})
void Quaternion_loadIdentity(Quaternion * quaternion);
Quaternion Quaternion_fromAxisAngle(Vector3f axis, float radians);
void Quaternion_toAxisAngle(Quaternion quaternion, Vector3f * outAxis, float * outRadians);
struct Matrix Quaternion_toMatrix(Quaternion quaternion);
void Quaternion_normalize(Quaternion * quaternion);
Quaternion Quaternion_normalized(Quaternion quaternion);
void Quaternion_multiply(Quaternion * quaternion1, Quaternion quaternion2);
Quaternion Quaternion_multiplied(Quaternion quaternion1, Quaternion quaternion2);
Quaternion Quaternion_slerp(Quaternion left, Quaternion right, float value);
void Quaternion_rotate(Quaternion * quaternion, Vector3f axis, float radians);
Quaternion Quaternion_rotated(Quaternion quaternion, Vector3f axis, float radians);
void Quaternion_invert(Quaternion * quaternion);
Quaternion Quaternion_inverted(Quaternion quaternion);
Vector3f Quaternion_multiplyVector3f(Quaternion quaternion, Vector3f vector);
Vector4f Quaternion_multiplyVector4f(Quaternion quaternion, Vector4f vector);
#ifdef __cplusplus
}
#endif
#endif