albaQuaternion.h

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/*=========================================================================
 
Program: ALBA (Agile Library for Biomedical Applications)
Module: albaQuaternion
Authors: Gianluigi Crimi
 
Copyright (c) BIC
All rights reserved. See Copyright.txt or
 
 
This software is distributed WITHOUT ANY WARRANTY; without even
the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR
PURPOSE.  See the above copyright notice for more information.
 
=========================================================================*/
 
#ifndef __albaQuaternion_H__
#define __albaQuaternion_H__
 
//----------------------------------------------------------------------------
// includes :
//----------------------------------------------------------------------------
#include "albaDefines.h"
 
//----------------------------------------------------------------------------
// forward reference
//----------------------------------------------------------------------------
class albaVect3d;
class albaMatrix;
 
class albaQuaternion
{
public:
      albaQuaternion();
      albaQuaternion(double w, double x, double y, double z);
      albaQuaternion(double angle, albaVect3d &axis);
      albaQuaternion( albaMatrix &matr);
 
      albaMatrix ToMatrix();
 
      void AngleAxis(double &angle, albaVect3d &axis);
 
      void Zero();
 
      void Identity();
 
      void Add( albaQuaternion &q);
      
      void Subtract( albaQuaternion &q);
 
      void Multiply(double s);
 
      void Divide(double s);
 
      void Multiply( albaQuaternion &q);
      
      void Multiply( albaQuaternion &q, albaQuaternion &result) ;
 
      albaQuaternion Dot( albaQuaternion &q);
            
      void Dot( albaQuaternion &q, albaQuaternion &result);
 
      albaQuaternion Conjugate();
      
      void Conjugate(albaQuaternion &result);
 
      double GetLength();
 
      double GetNorm();
 
      void Normalize();
 
      bool Normalized();
 
      albaQuaternion Inverse();
 
      void Inverse(albaQuaternion &result) ;
 
      static albaQuaternion Slerp(albaQuaternion &a, albaQuaternion &b, double t);
 
      bool operator ==( albaQuaternion &other) ;
 
      bool operator !=( albaQuaternion &other) ;
 
      double& operator [](int i);
 
    albaQuaternion operator+(  albaQuaternion b);
      albaQuaternion operator-(  albaQuaternion b);
      albaQuaternion operator*(  albaQuaternion b);
      albaQuaternion& operator+=(  albaQuaternion b);
      albaQuaternion& operator-=(  albaQuaternion b);
      albaQuaternion& operator*=( const albaQuaternion b);
 
      bool operator ==( double scalar);
      bool operator !=( double scalar);
 
   
      albaQuaternion operator-();
      albaQuaternion operator*( double s);
      albaQuaternion operator/( double s);
      albaQuaternion& operator*=( double s);
      albaQuaternion& operator/=(double s);
 
protected:
      double m_W;        
      double m_X;        
      double m_Y;        
      double m_Z;        
};
 
 
 
#endif