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#ifndef __CGLA_QUATF_H__
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#define __CGLA_QUATF_H__
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#include "ArithQuat.h"
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#include "Vec3f.h"
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#include "Vec4f.h"
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#include "Mat3x3f.h"
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#include "Mat4x4f.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 Quatf : public ArithQuat<float,Vec3f,Quatf>
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  {
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  public:
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		Quatf() : ArithQuat<float, Vec3f, Quatf>() {}
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    /// Construct quaternion from vector and scalar
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    Quatf(const Vec3f& imaginary, float real = 1.0f) : ArithQuat<float, Vec3f, Quatf>(imaginary, real) {}
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    /// Construct quaternion from four scalars
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    Quatf(float x, float y, float z, float _qw) :  ArithQuat<float, Vec3f, Quatf>(x,y,z,_qw) {}
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		/// Construct quaternion from a 4D vector
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		explicit Quatf(const Vec4f& v) : ArithQuat<float, Vec3f, Quatf>(v[0], v[1], v[2], v[3]) {}
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		/// Get a 3x3 rotation matrix from a quaternion
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    Mat3x3f get_Mat3x3f() const
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    {
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      float s = 2/norm();
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      // note that the all q_*q_ are used twice (optimize)
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      return Mat3x3f(Vec3f(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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		     Vec3f(      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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		     Vec3f(      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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    Mat4x4f get_Mat4x4f() const
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    {
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      float s = 2/norm();
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      // note that the all q_*q_ are used twice (optimize?)
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      return Mat4x4f(Vec4f(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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		     Vec4f(      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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		     Vec4f(      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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		     Vec4f(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 Quatf identity_Quatf()
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  {
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    return Quatf(Vec3f(0.0));
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  }
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	};
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}
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#endif