Diff: Quaternion/Quaternion.h

Revision:

0:13a7de7ce046

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/Quaternion/Quaternion.h	Sat Nov 05 18:29:39 2011 +0000
@@ -0,0 +1,45 @@
+/**
+ * @file    Quaternion.h
+ * @author  Mike Panetta
+ *
+ * Created Oct 29th 2011
+ *
+ * Based on tutorial here: http://www.cprogramming.com/tutorial/3d/quaternions.html
+ *
+ */
+ 
+#ifndef _QUATERNION_H_
+#define _QUATERNION_H_
+
+#include <math.h>
+
+class Quaternion
+{
+    public:
+        Quaternion(float const & a,
+                   float const & b,
+                   float const & c,
+                   float const & d) : w(a), x(b), y(c), z(d) {}
+    
+        float norm(void)
+        {
+            return sqrtf(w*w+x*x+y*y+z*z);
+        }
+ 
+        float real(void)
+        {
+            return w;
+        }
+        
+        Quaternion unreal(void)
+        {
+            return Quaternion(0, x, y, z);
+        }
+           
+    private:
+    
+        float w, x, y, z;
+};
+
+
+#endif //_QUATERNION_H)_
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