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VMDQuat.h

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/***************************************************************************
 *cr
 *cr            (C) Copyright 1995-2019 The Board of Trustees of the
 *cr                        University of Illinois
 *cr                         All Rights Reserved
 *cr
 ***************************************************************************/

/***************************************************************************
 * RCS INFORMATION:
 *
 *      $RCSfile: VMDQuat.h,v $
 *      $Author: johns $        $Locker:  $             $State: Exp $
 *      $Revision: 1.12 $      $Date: 2019/01/17 21:21:02 $
 *
 ***************************************************************************
 * DESCRIPTION:
 *   Quaternion class 
 ***************************************************************************/

#ifndef QUAT_H__
#define QUAT_H__

class Quat {
public:
  Quat()  {identity(); }               
  Quat(double x, double y, double z, double w);

  // for the next two, angle is measured in degrees  
  void rotate(const float *u, float angle);  // assume u normalized!
  void rotate(char axis, float angle); 
  void invert();
  void identity();
 
  void mult(const Quat &);
  void multpoint3(const float *, float *) const;

  void fromMatrix(const float *);      
  void printQuat(float *);             
  void printMatrix(float *);           

private:
  double qx, qy, qz, qw;
};

#endif  

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