#ifndef QUAT_H
#define QUAT_H
#include <iostream>
#include <cmath>
#include <stdio.h>

const float D2R = M_PI/180.;

class Rotate;
class Point;

class Quat
{
	friend Quat	operator+( const Quat&, const Quat& );
	friend Quat	operator-( const Quat& );
	friend Quat	operator*( const Quat&, const Quat& );
	friend Quat	operator*( float, const Quat& );
	friend Quat	operator*( const Quat&, float );
	friend Rotate	Slerp( float, const Quat&, const Quat& );

public:
	float s;		// scalar portion = cos( theta/2 )
	float vx, vy, vz;	// vector portion = sin( theta/2 ) * axis of rotation
	float mat[4][4];	// [M]*{p} -> {p'} 4x4 matrix
	float tpose[4][4];	// transpose of mat[][], suitable for glMultMatrixf()
	char  str[128];		// toString() buffer

			Quat( float s=0., float vx=0., float vy=0., float vz=0. );
	void		setIdentity();
	char *		toString();
	void		unitize();
};


class Rotate : public Quat
{
	friend int	operator==( Rotate&, Rotate& );
	friend int	operator!=( Rotate&, Rotate& );
	friend Rotate	operator*( const Rotate&, const Rotate& );
	friend Point	operator*( const Rotate&, const Point& );

public:
			Rotate( float angr=0., float vx=0., float vy=0., float vz=1. );
			Rotate( float, float, float,   float, float, float,   float scale=1. );
	float		getAng();
	void		getAxis( float&, float&, float& );
	float *		getAxis();
	void		getAngAxis( float&, float&, float&, float& );
	float *		getMatrix();
	float *		getOpenglMatrix();
	void		printMatrix();
	char *		toString();
	Rotate&		operator=( const Quat& );
};


Rotate	operator*( const Rotate&, const Rotate& );


class Point : public Quat
{

public:
			Point( float, float, float );
	char *		toString();
	friend Point	operator*( const Rotate&, const Point& );
};

Point	operator*( const Rotate&, const Point& );
#endif