Import from fieldviz

1 files changed, 28 insertions, 0 deletions

diff --git a/include/fml/quat.h b/include/fml/quat.h
new file mode 100644
index 0000000..14c966e
--- /dev/null
+++ b/include/fml/quat.h
@@ -0,0 +1,28 @@
+#ifndef QUAT_H
+#define QUAT_H
+
+#include "fml.h"
+#include <iostream>
+
+namespace fml {
+    class quat {
+    public:
+        scalar w, x, y, z;
+    public:
+        quat(scalar w, scalar x, scalar y, scalar z);
+        quat(scalar x, scalar y, scalar z);
+        quat(scalar w, vec3 vec);
+        quat(vec3 vec);
+        quat();
+
+        operator vec3();
+
+        quat conjugate() const;
+
+        static quat from_angleaxis(scalar angle, vec3 axis);
+    };
+
+    quat operator*(const quat &, const quat &);
+    std::ostream &operator<<(std::ostream &os, const quat &);
+}
+#endif