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#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() const;
quat conjugate() const;
/* returns <cos / 2, x * sin / 2, y * sin / 2, z * sin / 2> */
static quat from_angleaxis(scalar angle, vec3 axis);
/* returns rotquat * this * rotquat.conj */
quat rotateby(const quat &rotquat) const;
};
quat operator*(const quat &, const quat &);
std::ostream &operator<<(std::ostream &os, const quat &);
}
#endif
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