GPGPU Programming for Games and Science

Linear and Affine Algebra 297

A straightforward implementation of quaternions and the associated alge-

bra is provided by the interface shown in Listing 6.27. The

Rotate and Slerp

functions are discussed later in this section.

template <typename Real>

class Quaternion : public Vector <4, R eal >

{

public :

// The quaternions are of the form q = x∗ i+y∗ j+z∗k + w. In tuple

// form, q = (x,y,z,w).

// Construction and destruction . The default constructor does not

// initialize the members.

˜Quaternion ();

Quaternion ();

Quaternion (Quaternion const&q);

Quaternion ( Vector <4, R ea l> const&q);

Quaternion ( Real x , Real y , Real z , Real w);

// assignment

Quaternion& operator=(Quaternion const&q);

Quaternion& operator= ( Vector <4, R ea l> const&q);

// special quaternions ...