vb01/quaternion.h

#ifndef QUATERNION_H
#define QUATERNION_H

#include<cmath>
#include"vector.h"

namespace vb01{
	class Quaternion{
		public:
			Quaternion(float w, float x, float y, float z){
				this->w = w;
				this->x = x;
				this->y = y;
				this->z = z;
			}
			Quaternion(float angle, Vector3 axis){
				*this = this->fromAngle(angle, axis);
			}
			Quaternion(){}
			inline Quaternion operator- (){return Quaternion(w, -x, -y, -z);}
			inline Quaternion operator* (Quaternion q){
				float a1 = this->w, a2 = q.w,
					  b1 = this->x, b2 = q.x,
					  c1 = this->y, c2 = q.y,
					  d1 = this->z, d2 = q.z;
				float w = a1 * a2 - b1 * b2 - c1 * c2 - d1 * d2;
				float x = a1 * b2 + b1 * a2 + c1 * d2 - d1 * c2;
				float y = a1 * c2 - b1 * d2 + c1 * a2 + d1 * b2;
				float z = a1 * d2 + b1 * c2 - c1 * b2 + d1 * a2;
				return Quaternion(w, x, y, z);
			}
			inline Vector3 operator* (Vector3 v){
				Quaternion vQuat = (*this) * Quaternion(0, v.x, v.y, v.z) * recip();
				return Vector3(vQuat.x, vQuat.y, vQuat.z);
			}
			inline Quaternion fromAngle(float angle, Vector3 axis){
				return Quaternion(cos(angle / 2), axis.x * sin(angle / 2), axis.y * sin(angle / 2), axis.z * sin(angle / 2));
			}
			inline float getAngle(){return w > 1 ? 0 : 2 * acos(w);}
			inline Vector3 getAxis(){return x == 0 && y == 0 && z == 0 ? Vector3(1, 0, 0) : Vector3(x, y, z).norm();}
			inline Quaternion operator+(Quaternion q){return Quaternion(w + q.w, x + q.x, y + q.y, z + q.z);}
			inline Quaternion operator-(Quaternion q){return Quaternion(w - q.w, x - q.x, y - q.y, z - q.z);}
			template<typename T> inline Quaternion operator*(T s){return Quaternion(w * s, x * s, y * s, z * s);}
			template<typename T> inline Quaternion operator/(T s){return Quaternion(w / s, x / s, y / s, z / s);}
			inline Quaternion conj(){
				return (*this + Quaternion(0, 1, 0, 0)
					*(*this) * Quaternion(0, 1, 0, 0) + Quaternion(0, 0, 1, 0)
					*(*this) * Quaternion(0, 0, 1, 0) + Quaternion(0, 0, 0, 1)
					*(*this) * Quaternion(0, 0, 0, 1)) * -.5;
			}
			inline Quaternion norm(){return *this / getLength();}
			inline Quaternion recip(){return conj() / getLengthSq();}
			inline Quaternion invert(){return conj() / (getLengthSq());}
			inline float getLengthSq(){return w * w + x * x + y * y + z * z;}
			inline float getLength(){return std::sqrt(getLengthSq());}

			float w, x, y, z;
			const static Quaternion QUAT_I, QUAT_J, QUAT_K, QUAT_W;
		private:
	};

}

#endif