tgQuaternion.h

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#ifndef TG_QUATERNION
#define TG_QUATERNION

#include <math.h>

#include <blort/TomGine/tgMathlib.h>

namespace TomGine{

const float ftol = 0.0001f;

class tgQuaternion
{
private:
        
        
public:
        float x,y,z,w;
        tgQuaternion();
        tgQuaternion(float x, float y, float z, float w);
        
        void normalise();
        tgQuaternion getConjugate() const;
        tgQuaternion operator+ (const tgQuaternion &q2) const;
        tgQuaternion operator- (const tgQuaternion &q2) const;
        tgQuaternion operator* (const tgQuaternion &rq);
        tgQuaternion operator* (const float f);
        
        vec3 operator* (const vec3 &vec);
        
        void fromAxis(const vec3 &v, float angle);
        void fromEuler(float pitch, float yaw, float roll);
        void fromMatrix(mat3 m);
        void fromMatrix(mat4 m);
        mat4 getMatrix4() const;
        mat3 getMatrix3() const;
        void getAxisAngle(vec3& axis, float& angle) const;
        
        void print() const;

};

} // namespace TomGine

#endif