cube-game-plus-plus/client/math/Quaternion.h

#ifndef QUATERNION_H
#define QUATERNION_H

#include "common/math/Vector.h"
#include "client/math/Matrix.h"

class Quaternion {
public:
    Quaternion();
    Quaternion(const Vector3& axis, float angle);
    
    Quaternion lerp(float f, const Quaternion& other) const;
    Quaternion slerp(float f, const Quaternion& other) const;
    Quaternion squad(float f, const Quaternion& prev, const Quaternion& next, const Quaternion& nextNext) const;
    
    Matrix toMatrix() const;
    Quaternion& mul(const Quaternion& other);

private:
    Quaternion(float x, float y, float z, float w);
    
    Quaternion interpolate(float a, float b, const Quaternion& other) const;
    Quaternion& normalize();
    
    Quaternion squadControl(const Quaternion& prev, const Quaternion& next) const;
    
    Quaternion& conjugate();
    Quaternion& log();
    Quaternion& exp();
    Quaternion& mul(float f);
    Quaternion& add(const Quaternion& other);
    
    Vector3 xyz;
    float w;
};

#endif