From 31539f3af0c7beea865b29fdda0840c79f14710e Mon Sep 17 00:00:00 2001
From: Franklin Wei <me@fwei.tk>
Date: Thu, 7 Mar 2019 19:14:35 -0500
Subject: Import from fieldviz

---
 include/fml/quat.h | 28 ++++++++++++++++++++++++++++
 1 file changed, 28 insertions(+)
 create mode 100644 include/fml/quat.h

(limited to 'include/fml/quat.h')

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
-- 
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