Quarternion.h

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//Copyright (c) 2013-2014, The MercuryDPM Developers Team. All rights reserved.
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#ifndef QUARTERNION_H
#define QUARTERNION_H

#include "Vector.h"
#include "Matrix.h"
#include "ExtendedMath.h"

class Quarternion
{
public:
    Quarternion();
    
    Quarternion(const Quarternion& other);
    
    Quarternion(double x, double y, double z, double w);
    
    Quarternion(Vec3D axis, double angle);
    
    void getAxisAndAngle(Vec3D& axis, double& angle) const;
    
    Matrix3D getRotationMatrix() const;
    
    void reset();

    void normalise();
    
    Quarternion operator *(const Quarternion &other) const;
    
    void integrate(const Vec3D& omega, double timeStep);
    
    Quarternion(const Vec3D& a);
    
    Vec3D get3DAngles() const;
    
    friend std::ostream& operator<<(std::ostream& os, const Quarternion &q);
    
    friend std::istream& operator>>(std::istream& is, Quarternion &q);
    
private:
    Mdouble w_, x_, y_, z_;
};

#endif