Dogcows Code - chaz/yoink/blob - src/moof/cml/quaternion.h

   1 /* -*- C++ -*- ------------------------------------------------------------
   2
   3 Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
   4
   5 The Configurable Math Library (CML) is distributed under the terms of the
   6 Boost Software License, v1.0 (see cml/LICENSE for details).
   7
   8  *-----------------------------------------------------------------------*/
   9 /** @file
  10  *  @brief
  11  */
  12
  13 #ifndef cml_quaternion_h
  14 #define cml_quaternion_h
  15
  16 #include <cml/core/common.h>
  17
  18 namespace cml {
  19
  20 // NOTE: 'scale' constant no longer used.
  21
  22 /** Helper to specify v1^v2 multiplication order. */
  23 struct positive_cross {
  24     /*enum { scale = 1 };*/
  25 };
  26
  27 /** Helper to specify v2^v1 multiplication order. */
  28 struct negative_cross {
  29     /*enum { scale = -1 };*/
  30 };
  31
  32 /** Helper to specify scalar-first quaternion ordering. */
  33 struct scalar_first {
  34     enum { W, X, Y, Z };
  35 };
  36
  37 /** Helper to specify vector-first quaternion ordering. */
  38 struct vector_first {
  39     enum { X, Y, Z, W };
  40 };
  41
  42 /** A configurable quaternion.
  43  *
  44  * This class encapsulates the notion of a quaternion.  The ArrayType
  45  * template argument can be used to select the type of array to be used as
  46  * internal storage for the quaternion's coefficients.
  47  *
  48  * @note Quaternions with two different orders cannot be used in the same
  49  * expression.
  50  */
  51 template<typename Element, class ArrayType = fixed<>,
  52     class Order = scalar_first, class Cross = positive_cross> class quaternion;
  53
  54 } // namespace cml
  55
  56 #include <cml/quaternion/quaternion_ops.h>
  57 #include <cml/quaternion/conjugate.h>
  58 #include <cml/quaternion/quaternion_mul.h>
  59 #include <cml/quaternion/quaternion_functions.h>
  60 #include <cml/quaternion/quaternion_comparison.h>
  61 #include <cml/quaternion/inverse.h>
  62 #include <cml/quaternion/quaternion.h>
  63 #include <cml/quaternion/quaternion_print.h>
  64 #endif
  65
  66 // -------------------------------------------------------------------------
  67 // vim:ft=cpp