26 #ifndef WFMATH_QUATERNION_H
27 #define WFMATH_QUATERNION_H
29 #include <wfmath/vector.h>
30 #include <wfmath/rotmatrix.h>
43 Quaternion () : m_w(0), m_vec(), m_valid(false), m_age(0) {}
63 m_valid(false), m_age(0)
67 m_valid(p.m_valid), m_age(p.m_age) {}
69 explicit Quaternion (
const AtlasInType& a) : m_w(0), m_vec(),
70 m_valid(false), m_age(0)
75 friend std::ostream& operator<<(std::ostream& os,
const Quaternion& p);
76 friend std::istream& operator>>(std::istream& is,
Quaternion& p);
84 {m_w = rhs.m_w; m_vec = rhs.m_vec; m_valid = rhs.m_valid; m_age = rhs.m_age;
return *
this;}
88 bool isEqualTo(
const Quaternion &q,
double epsilon = WFMATH_EPSILON)
const;
90 bool operator== (
const Quaternion& rhs)
const {
return isEqualTo(rhs);}
91 bool operator!= (
const Quaternion& rhs)
const {
return !isEqualTo(rhs);}
93 bool isValid()
const {
return m_valid;}
162 unsigned age()
const {
return m_age;}
165 Quaternion(
bool valid) : m_w(0), m_vec(), m_valid(valid), m_age(1) {}
166 void checkNormalization() {
if(m_age >= WFMATH_MAX_NORM_AGE && m_valid)
normalize();}
175 #endif // WFMATH_QUATERNION_H