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quat.h

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00001 // QUAT Class    by Alan Baylis 2001
00002 
00003 #ifndef QuatH
00004 #define QuatH
00005 
00006 #include "vector.h"
00007 
00008 class QUAT
00009 {
00010     public:
00011           QUAT(float sx = 0, float sy = 0, float sz = 0, float sw = 1);
00012           ~QUAT();
00013 
00014         void Reset();
00015         void CopyQuat(QUAT q);
00016                 void Set(float sx, float sy, float sz, float sw) {x = sx, y = sy, z = sz, w = sw;}
00017                 void AxisAngleToQuat(VECTOR axis, float theta);
00018           void EulerToQuat(float pitch, float yaw, float roll);
00019                 void NormaliseQuat();
00020                 float MagnitudeQuat();
00021                 void MultQuat(QUAT q);                
00022                 void MatrixToQuat(float m[4][4]);
00023 
00024                 float x;
00025             float y;
00026             float z;
00027             float w;
00028 };
00029 
00030 
00031 #endif
00032 

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