#ifndef _MQuaternion
#define _MQuaternion
//-
// ==========================================================================
// Copyright (C) 1995 - 2006 Autodesk, Inc., and/or its licensors.  All
// rights reserved.
//
// The coded instructions, statements, computer programs, and/or related
// material (collectively the "Data") in these files contain unpublished
// information proprietary to Autodesk, Inc. ("Autodesk") and/or its
// licensors,  which is protected by U.S. and Canadian federal copyright law
// and by international treaties.
//
// The Data may not be disclosed or distributed to third parties or be
// copied or duplicated, in whole or in part, without the prior written
// consent of Autodesk.
//
// The copyright notices in the Software and this entire statement,
// including the above license grant, this restriction and the following
// disclaimer, must be included in all copies of the Software, in whole
// or in part, and all derivative works of the Software, unless such copies
// or derivative works are solely in the form of machine-executable object
// code generated by a source language processor.

// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND.
// AUTODESK DOES NOT MAKE AND HEREBY DISCLAIMS ANY EXPRESS OR IMPLIED
// WARRANTIES INCLUDING, BUT NOT LIMITED TO, THE WARRANTIES OF
// NON-INFRINGEMENT, MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE,
// OR ARISING FROM A COURSE OF DEALING, USAGE, OR TRADE PRACTICE. IN NO
// EVENT WILL AUTODESK AND/OR ITS LICENSORS BE LIABLE FOR ANY LOST
// REVENUES, DATA, OR PROFITS, OR SPECIAL, DIRECT, INDIRECT, OR
// CONSEQUENTIAL DAMAGES, EVEN IF AUTODESK AND/OR ITS LICENSORS HAS
// BEEN ADVISED OF THE POSSIBILITY OR PROBABILITY OF SUCH DAMAGES.
// ==========================================================================
//+
//
// CLASS:    MQuaternion
//
// ****************************************************************************

#if defined __cplusplus

// ****************************************************************************
// INCLUDED HEADER FILES


#include <maya/MStatus.h>
#include <maya/MTypes.h>
#include <maya/MTransformationMatrix.h>

// ****************************************************************************
// DECLARATIONS

class MMatrix;
class MEulerRotation;

#define kQuaternionEpsilon 1.0e-10

// ****************************************************************************
// CLASS DECLARATION (MQuaternion)

//! \ingroup OpenMaya
//! \brief Quaternion math.
/*!
	This class provides methods for working with Quaternions.
	Quaternions can be used to specify orientations and rotations of 3-D
	objects relative to a starting reference, similar to the way that cartesian
	vectors can be used to specify positions and translations of 3-D objects
	relative to an origin.  Quaternions represent orientations as a single
	rotation, just as rectangular co-ordinates represent position as a single
	vector.
*/
class OPENMAYA_EXPORT MQuaternion
{
public:
					MQuaternion();
					MQuaternion(const MQuaternion &src);
					MQuaternion(double xx, double yy, double zz, double ww);
					MQuaternion(const double q[4]);
					MQuaternion(const MVector &a, const MVector &b);
					MQuaternion(const MVector &a, const MVector &b,
								double angleFactor);
					MQuaternion(double angle, const MVector &axisb);
					~MQuaternion();
 	MQuaternion &	operator=(const MQuaternion& src);
	MQuaternion &	operator=(const MMatrix &matrix);
	MQuaternion &	operator=(const MEulerRotation &matrix);
	MMatrix			asMatrix() const;
	MEulerRotation	asEulerRotation() const;
	MQuaternion &	setAxisAngle(const MVector &axis, double theta);
	bool			getAxisAngle(MVector &axis, double &theta) const;
	MQuaternion &	setToXAxis(double theta);
	MQuaternion &	setToYAxis(double theta);
	MQuaternion &	setToZAxis(double theta);
	MStatus			get(double dest[4]) const;
	double			operator[](unsigned int i) const;
 	MQuaternion   	operator+(const MQuaternion &other) const;
 	MQuaternion   	operator*(const MQuaternion &other) const;
 	MQuaternion & 	operator*=(const MQuaternion &rhs);
 	MQuaternion   	operator-(const MQuaternion &other) const;
 	MQuaternion   	operator-() const;
	MQuaternion &	negateIt();
 	bool           	operator==(const MQuaternion &other) const;
 	bool          	operator!=(const MQuaternion &other) const;
 	bool          	isEquivalent(const MQuaternion &other,
								 double tolerance = kQuaternionEpsilon) const;
	MQuaternion &	scaleIt(double scale);
	MQuaternion 	normal() const;
	MQuaternion &	normalizeIt();
	MQuaternion 	conjugate() const;
	MQuaternion &	conjugateIt();
	MQuaternion 	inverse() const;
	MQuaternion &	invertIt();
	MQuaternion		log() const;
	MQuaternion		exp() const;

	//! The multiplicative identity.
	static const MQuaternion identity;

BEGIN_NO_SCRIPT_SUPPORT:

	//!	NO SCRIPT SUPPORT
	double &		operator[](unsigned int i);

	//!	NO SCRIPT SUPPORT
 	friend OPENMAYA_EXPORT MQuaternion operator*(double scale,
												 const MQuaternion &other);
	friend OPENMAYA_EXPORT MQuaternion slerp(const MQuaternion &p,
											 const MQuaternion &q,
											 double t);
	//!	NO SCRIPT SUPPORT
	friend OPENMAYA_EXPORT MQuaternion slerp(const MQuaternion &p,
											 const MQuaternion &q,
											 double t,
											 short spin);
	//!	NO SCRIPT SUPPORT
	friend OPENMAYA_EXPORT MQuaternion squad(const MQuaternion &p,
											 const MQuaternion &a,
											 const MQuaternion &b,
											 const MQuaternion &q,
											 double t);
	//!	NO SCRIPT SUPPORT
	friend OPENMAYA_EXPORT MQuaternion squad(const MQuaternion &p,
											 const MQuaternion &a,
											 const MQuaternion &b,
											 const MQuaternion &q,
											 double t, short spin);
	//!	NO SCRIPT SUPPORT
	friend OPENMAYA_EXPORT MQuaternion squadPt(const MQuaternion &q0,
											   const MQuaternion &q1,
											   const MQuaternion &q2);
	//!	NO SCRIPT SUPPORT
	friend OPENMAYA_EXPORT std::ostream &operator<<(std::ostream &os,
											   const MQuaternion &q);

	//!	NO SCRIPT SUPPORT
	operator		MMatrix() const;

END_NO_SCRIPT_SUPPORT:

	//! The quaternion's imaginary x component.
	double x;

	//! The quaternion's imaginary y component.
	double y;

	//! The quaternion's imaginary z component.
	double z;

	//! The quaternion's real component.
	double w;

protected:
	// No protected members

private:
	// No private members
};

#ifdef WANT_GCC41_FRIEND
MQuaternion operator*(double scale, const MQuaternion &other);
#endif

#endif /* __cplusplus */
#endif /* _MQuaternion */