quaternion.h

#ifdef _MSC_VER
#pragma once
#endif

#ifndef _SPICA_QUATERNION_H_
#define _SPICA_QUATERNION_H_

#include <iostream>

#include "core/core.hpp"

#include "core/common.h"

namespace spica {

    class SPICA_EXPORTS Quaternion {
    private:
        double _x, _y, _z, _w;

    public:
        Quaternion();

        Quaternion(double x, double y, double z, double w = 0.0);

        explicit Quaternion(const Vector3d& v);

        Quaternion(const Quaternion& q);

        ~Quaternion();

        Quaternion& operator=(const Quaternion& q);

        Quaternion& operator*=(const Quaternion& q);

        static Quaternion rotation(const Vector3d& axis, double theta);

        Vector3d applyTo(const Vector3d& v);
        Point3d  applyTo(const Point3d& p);
        Normal3d applyTo(const Normal3d& n);

        double squaredNorm() const;

        double norm() const;

        Quaternion inverse() const;

        Vector3d toVector3d() const;

        std::string toString() const;

        inline double x() const { return _x; }

        inline double y() const { return _y; }

        inline double z() const { return _z; }

        inline double w() const { return _w; }
    };

}  // namespace spica

SPICA_EXPORTS
spica::Quaternion operator*(const spica::Quaternion& q1,
                            const spica::Quaternion& q2);

SPICA_EXPORTS
std::ostream& operator<<(std::ostream& os, const spica::Quaternion& q);

#endif  // _SPICA_QUATERNION_H_