restructured some files

tools/gl/math/quat.h

@@ -0,0 +1,54 @@
+#ifndef MATH_QUAT_H
+#define MATH_QUAT_H
+
+#include <iostream>
+#include <cmath>
+
+class Vec3;
+class Vec4;
+class Mat3;
+
+/* Hamilton style */
+
+class Quat {
+public:
+	float w, x, y, z;
+
+	Quat(void);
+	Quat(float w);
+	Quat(float x, float y, float z);
+	Quat(float w, float x, float y, float z);
+	Quat(float w, const Vec3 &v);
+	Quat(const Vec3 &v);
+	Quat(const Vec4 &v);
+	Quat(const Mat3 &m);
+	float *ptr(void);
+	Quat operator-(void) const;
+	Quat operator+(const Quat &rhs) const;
+	Quat operator-(const Quat &rhs) const;
+	Quat operator*(const Quat &rhs) const;
+	Quat operator*(float rhs) const;
+	Quat operator/(float rhs) const;
+	Quat &operator+=(const Quat &rhs);
+	Quat &operator-=(const Quat &rhs);
+	Quat &operator*=(const Quat &rhs);
+	Quat &operator*=(float rhs);
+	Quat &operator/=(float rhs);
+	bool operator==(const Quat &rhs) const;
+	bool operator!=(const Quat &rhs) const;
+	Quat inv(void) const;
+	Quat K(void) const;	/* conjugate */
+	Quat S(void) const;	/* scalar */
+	Quat V(void) const;	/* vector */
+	float T(void) const;	/* tensor */
+	float N(void) const;	/* norm = tensor^2 */
+	Quat U(void) const;	/* versor */
+	Quat wedge(const Quat &rhs) const;
+	float inner(const Quat &rhs) const;
+	Quat lerp(const Quat &rhs, float t) const;
+	Quat slerp(const Quat &rhs, float t) const;
+	void print(std::ostream &of) const;
+};
+
+#endif
+