quaternion.h

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/*
 * quaternion.h
 *
 * Copyright (C) 2009  Thomas A. Vaughan
 * All rights reserved.
 *
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the <organization> nor the
 *       names of its contributors may be used to endorse or promote products
 *       derived from this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THOMAS A. VAUGHAN ''AS IS'' AND ANY
 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
 * DISCLAIMED. IN NO EVENT SHALL THOMAS A. VAUGHAN BE LIABLE FOR ANY
 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *
 *
 * Basic quaternion objects (used mostly for 3D rotations).
 */

#ifndef WAVEPACKET_QUATERNION_H__
#define WAVEPACKET_QUATERNION_H__

// includes --------------------------------------------------------------------
#include "geometry_3d.h"


/// \ingroup geometry
/*@{*/


// common typedefs -------------------------------------------------------------


/// Basic quaternion object.  Mostly used for 3D object orientation.
struct quaternion_t {
        // constructors --------------------------------------------------------
        quaternion_t(void) throw() {}
        quaternion_t(IN const quaternion_t& q) throw() { *this = q; }

        // manipulators --------------------------------------------------------
        void clear(void) throw() {
                        x = y = z = 0.0;
                        w = 1.0;
                }

        /// set quaternion based on the provided Euler angles
        void setEulerZYX(IN float yaw, IN float pitch, IN float roll) throw();

        void setEulerZYX(IN const point3d_t& euler) throw() {
                        this->setEulerZYX(euler.z, euler.y, euler.x);
                }

        void operator=(IN const quaternion_t& q) throw() {
                        x = q.x;
                        y = q.y;
                        z = q.z;
                        w = q.w;
                }

        void dump(IN const char * msg) const throw() {
                        DPRINTF("%s: x=%f, y=%f, z=%f, w=%f", msg,
                            x, y, z, w);
                }

        // data fields ---------------------------------------------------------
        float           x;
        float           y;
        float           z;
        float           w;
};


#endif  // WAVEPACKET_QUATERNION_H__