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* Quat.h - quaternion rotation and mathematics header.
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* Copyright (C) 2010 D Haley
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* THanks to R. Minehan for mathematical discussions.
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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//needed for sin and cos
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//conjugates the argument
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void quat_conj(Quaternion *quat);
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//calculates the square length of the quaternion
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float quat_sqrlen(Quaternion *quat);
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//multiplies two quaternions result=q1*q2
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void quat_mult(Quaternion *result, Quaternion *q1, Quaternion *q2);
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//this is a little optimisation that doesnt calculate the a component for
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//the returned quaternion. Note that the result is specific to quaternion rotation
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void quat_pointmult(Point3f *result, Quaternion *q1, Quaternion *q2);
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//Uses quaternion mathematics to perform a rotation around your favourite axis
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//IMPORTANT: rotVec must be normalised before passing to this function
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//failure to do so will have wierd results
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//Note result is stored in point passsed as argument
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void quat_rot(Point3f *point, Point3f *rotVec, float angle);
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//Retrieve the two quaternions for repeated rotations. pass to the quat_rot_apply_quats
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void quat_get_rot_quats(Point3f *rotVec, float angle,
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Quaternion *rotQuat, Quaternion *conjQuat);
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//Use previously generated quats from quat_get_rot_quats to rotate a point
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void quat_rot_apply_quats(Point3f *point, Quaternion *rotQuat, Quaternion *conjQuat);
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//this performs an optimised rotation of a point around 3 angles
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//pitch, then yaw and then roll. Pitch is defined to be rotation around x
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//yaw around z and roll around y. x is right, y is forwards, z is up
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//The results are derived by special case quaternion rotation around basis vectors
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void quat_rot_pitchyawroll(Point3f *point, float pitchAngle,float yawAngle, float rollAngle);
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//As for the above but in reverse order. This allows you to undo the above transform by simply
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//passing through the negative roll yaw and pitch angles
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void quat_rot_rollyawpitch(Point3f *point, float rollAngle,float yawAngle,float pitchAngle);
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//TODO: determine if we need an array version of the quat_rot_pyr/ryp funcs
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src/quat.h
