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55 lines
1.0 KiB
55 lines
1.0 KiB
#ifndef __QUATERNION_H
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#define __QUATERNION_H
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#include <iostream>
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#include <cmath>
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#include <SDL_opengl.h>
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// #include "rotationsmatrix.h"
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#include "punkt3d.h"
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#include "emath.h"
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class Quaternion {
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private:
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float x, y, z, w;
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public:
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Quaternion();
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Quaternion(float _x, float _y, float _z, float _w);
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Quaternion(float deg, Punkt3D p);
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Quaternion(float _x, float _y, float _z);
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void set(float rotx, float roty, float rotz);
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void set(float deg, Punkt3D axis);
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void normalize();
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Quaternion getConjugate();
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// Rotationsmatrix getRotMat();
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Punkt3D rotP3D(const Punkt3D &p);
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Quaternion operator*(const Quaternion&);
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};
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// class Quaternion {
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// private:
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// float w;
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// float x,y,z;
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// public:
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// Quaternion();
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// void createFromRotation(float, float, float, float);
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//
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//
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// void createGlMatrix(GLfloat*);
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// Punkt3D getDirectionVector();
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// Punkt3D getDirectionVector(GLfloat*);
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//
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// Quaternion operator*(const Quaternion&);
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//
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//
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// };
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//
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// void glMultMatrixf(Quaternion);
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#endif
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