Quat.h

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// GMTL is (C) Copyright 2001-2010 by Allen Bierbaum
// Distributed under the GNU Lesser General Public License 2.1 with an
// addendum covering inlined code. (See accompanying files LICENSE and
// LICENSE.addendum or http://www.gnu.org/copyleft/lesser.txt)

#ifndef _GMTL_QUAT_H_
#define _GMTL_QUAT_H_

#include <gmtl/Defines.h>
#include <gmtl/Vec.h>
 
namespace gmtl
{

template <typename DATA_TYPE>
class Quat
{
public:
   typedef DATA_TYPE DataType;

   enum Params { Size = 4 };

   Quat()
      : mData( (DATA_TYPE)0.0, (DATA_TYPE)0.0, (DATA_TYPE)0.0, (DATA_TYPE)1.0 )
   {
   }
   
   Quat( const DATA_TYPE& x, const DATA_TYPE& y, const DATA_TYPE& z,
         const DATA_TYPE& w )
      : mData( x, y, z, w )
   {
   }

   Quat( const Quat<DATA_TYPE>& q ) : mData( q.mData )
   {
   }

   void set( const DATA_TYPE x, const DATA_TYPE y, const DATA_TYPE z, const DATA_TYPE w )
   {
      mData.set( x, y, z, w );
   }

   void get( DATA_TYPE& x, DATA_TYPE& y, DATA_TYPE& z, DATA_TYPE& w ) const
   {
      x = mData[Xelt];
      y = mData[Yelt];
      z = mData[Zelt];
      w = mData[Welt];
   }

   DATA_TYPE& operator[]( const int x )
   {
      gmtlASSERT( x >= 0 && x < 4 && "out of bounds error" );
      return mData[x];
   }

   const DATA_TYPE& operator[]( const int x ) const
   {
      gmtlASSERT( x >= 0 && x < 4 && "out of bounds error" );
      return mData[x];
   }

   const DATA_TYPE*  getData() const { return (DATA_TYPE*)mData.getData();}

public:
   // Order x, y, z, w
   Vec<DATA_TYPE, 4> mData;
};

const Quat<float> QUAT_MULT_IDENTITYF( 0.0f, 0.0f, 0.0f, 1.0f );
const Quat<float> QUAT_ADD_IDENTITYF( 0.0f, 0.0f, 0.0f, 0.0f );
const Quat<float> QUAT_IDENTITYF( QUAT_MULT_IDENTITYF );
const Quat<double> QUAT_MULT_IDENTITYD( 0.0, 0.0, 0.0, 1.0 );
const Quat<double> QUAT_ADD_IDENTITYD( 0.0, 0.0, 0.0, 0.0 );
const Quat<double> QUAT_IDENTITYD( QUAT_MULT_IDENTITYD );

typedef Quat<float> Quatf;
typedef Quat<double> Quatd;

} // end of namespace gmtl

#endif