/usr/include/marble/Quaternion.h is in libmarble-dev 4:15.12.3-0ubuntu2.
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// This file is part of the Marble Virtual Globe.
//
// This program is free software licensed under the GNU LGPL. You can
// find a copy of this license in LICENSE.txt in the top directory of
// the source code.
//
// Copyright 2004-2007 Torsten Rahn <tackat@kde.org>
// Copyright 2007 Inge Wallin <ingwa@kde.org>
// Copyright 2011 Bernhard Beschow <bbeschow@cs.tu-berlin.de>
// Copyright 2014 Dennis Nienhüser <nienhueser@kde.org>
//
//
// Quaternions provides a class that deals with quaternion operations.
// krazy:excludeall=dpointer,inline
#ifndef MARBLE_QUATERNION_H
#define MARBLE_QUATERNION_H
#include "marble_export.h"
#include <cmath>
namespace Marble
{
enum
{
Q_X = 0,
Q_Y = 1,
Q_Z = 2,
Q_W = 3
};
typedef qreal xmmfloat[4];
typedef xmmfloat matrix[3];
class MARBLE_EXPORT Quaternion
{
public:
Quaternion();
Quaternion(qreal w, qreal x, qreal y, qreal z);
/*!\brief used to generate Quaternion from longitude and latitude
*
* \param lon longitude
* \param lat latitude
*/
static Quaternion fromSpherical(qreal lon, qreal lat);
static Quaternion fromEuler(qreal pitch, qreal yaw, qreal roll);
static Quaternion slerp(const Quaternion &q1, const Quaternion &q2, qreal t);
static Quaternion nlerp(const Quaternion &q1, const Quaternion &q2, qreal t);
// Operators
Quaternion operator*(const Quaternion &q) const;
Quaternion operator+(const Quaternion &q) const;
Quaternion operator*(qreal factor) const;
bool operator==(const Quaternion &q) const;
Quaternion& operator*=(const Quaternion &q);
Quaternion& operator*=(qreal);
void getSpherical(qreal &lon, qreal &lat) const;
void normalize();
qreal length() const;
Quaternion inverse() const;
Quaternion log() const;
Quaternion exp() const;
qreal pitch() const;
qreal yaw() const;
qreal roll() const;
void rotateAroundAxis(const Quaternion &q);
void toMatrix(matrix &m) const;
void rotateAroundAxis(const matrix &m);
// TODO: Better add accessors...
xmmfloat v;
};
}
#ifndef QT_NO_DEBUG_STREAM
MARBLE_EXPORT QDebug operator<<(QDebug, const Marble::Quaternion &);
#endif
#endif // MARBLE_QUATERNION_H
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