quaternion.h

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#ifndef AIMS_RESAMPLING_QUATERNION_H
#define AIMS_RESAMPLING_QUATERNION_H


#include <aims/vector/vector.h>
#include <aims/data/data.h>

namespace aims
{
  class AffineTransformation3d;
}
typedef aims::AffineTransformation3d Motion;

namespace aims
{

  class Quaternion
  {
  public:
    friend Quaternion operator * ( const Quaternion &, const Quaternion & );

    Quaternion();
    Quaternion( const Point4df & q );
    Quaternion( const Quaternion & q );
    Quaternion( float x, float y, float z, float t );
    ~Quaternion();

    Quaternion & operator = ( const Quaternion & q );
    const Point4df & vector() const { return( _vector ); }
    void setVector( const Point4df & vec );
    AimsVector<float,16> rotationMatrix() const;
    AimsVector<float,16> inverseRotationMatrix() const;
    void buildFromMatrix( const float* m );
    void buildFromMotion( const Motion & m );
    Point3df transform( float x, float y, float z ) const
    { return transform( Point3df( x, y, z ) ); }
    Point3df transform( const Point3df & p ) const;
    Point3df transformInverse( const Point3df & p ) const;
    Quaternion & operator *= ( const Quaternion & q );
    void norm();
    Quaternion normalized() const;
    void fromAxis( const Point3df & c, float phi );
    Quaternion inverse() const;
    Point3df axis() const;
    float angle() const;

    static float dot( const Quaternion & a, const Quaternion & b )
    { return( dot( a._vector, b._vector ) ); }
    static float dot( const Point4df & a, const Point4df & b );
    static Point4df cross( const Point4df & a, const Point4df & b );
    static Point3df norm( const Point3df & a );

  protected:
    Point4df    _vector;
  };


  Quaternion operator * ( const Quaternion & a, const Quaternion & b );

}


#endif