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#ifndef __CGLA_QUATD_H__
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#define __CGLA_QUATD_H__
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#include "ArithQuat.h"
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#include "Vec3d.h"
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#include "Vec4d.h"
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#include "Mat3x3d.h"
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#include "Mat4x4d.h"
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namespace CGLA {
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  /** \brief A float based Quaterinion class.
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	Quaternions are algebraic entities useful for rotation. */
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	class Quatd : public ArithQuat<double,Vec3d,Quatd>
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  {
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  public:
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		Quatd() : ArithQuat<double, Vec3d, Quatd>() {}
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    /// Construct quaternion from vector and scalar
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    Quatd(const Vec3d& imaginary, double real = 1.0) : ArithQuat<double, Vec3d, Quatd>(imaginary, real) {}
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    /// Construct quaternion from four scalars
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    Quatd(double x, double y, double z, double _qw) :  ArithQuat<double, Vec3d, Quatd>(x,y,z,_qw) {}
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		/// Construct quaternion from a 4D vector
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		explicit Quatd(const Vec4d& v) : ArithQuat<double, Vec3d, Quatd>(v[0], v[1], v[2], v[3]) {}
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		/// Get a 3x3 rotation matrix from a quaternion
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    Mat3x3d get_Mat3x3d() const
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    {
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      double s = 2/norm();
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      // note that the all q_*q_ are used twice (optimize)
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      return Mat3x3d(Vec3d(1.0 - s*(qv[1]*qv[1] + qv[2]*qv[2]),
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			         s*(qv[0]*qv[1] - qw*qv[2]),
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			         s*(qv[0]*qv[2] + qw*qv[1])),
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		     Vec3d(      s*(qv[0]*qv[1] + qw*qv[2]),
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  			   1.0 - s*(qv[0]*qv[0] + qv[2]*qv[2]),
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			         s*(qv[1]*qv[2] - qw*qv[0])),
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		     Vec3d(      s*(qv[0]*qv[2] - qw*qv[1]),
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			         s*(qv[1]*qv[2] + qw*qv[0]),
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			   1.0 - s*(qv[0]*qv[0] + qv[1]*qv[1])));
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    }
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    /// Get a 4x4 rotation matrix from a quaternion
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    Mat4x4d get_Mat4x4d() const
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    {
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      double s = 2/norm();
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      // note that the all q_*q_ are used twice (optimize?)
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      return Mat4x4d(Vec4d(1.0 - s*(qv[1]*qv[1] + qv[2]*qv[2]),
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			         s*(qv[0]*qv[1] - qw*qv[2]),
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			         s*(qv[0]*qv[2] + qw*qv[1]),
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		           0.0),
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		     Vec4d(      s*(qv[0]*qv[1] + qw*qv[2]),
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			   1.0 - s*(qv[0]*qv[0] + qv[2]*qv[2]),
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			         s*(qv[1]*qv[2] - qw*qv[0]),
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			   0.0),
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		     Vec4d(      s*(qv[0]*qv[2] - qw*qv[1]),
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			         s*(qv[1]*qv[2] + qw*qv[0]),
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			   1.0 - s*(qv[0]*qv[0] + qv[1]*qv[1]),
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			   0.0),
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		     Vec4d(0.0, 0.0, 0.0, 1.0));
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    }
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	/// Create an identity quaternion
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  inline Quatd identity_Quatd()
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  {
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    return Quatd(Vec3d(0.0));
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  }
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	};
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}
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#endif