1 files changed, 36 insertions, 0 deletions
diff --git a/src/mbgl/util/quaternion.hpp b/src/mbgl/util/quaternion.hpp
new file mode 100644
index 0000000000..b2ae40eaf7
--- /dev/null
+++ b/src/mbgl/util/quaternion.hpp
@@ -0,0 +1,36 @@
+#pragma once
+
+#include "mat3.hpp"
+#include "mat4.hpp"
+
+namespace mbgl {
+
+struct Quaternion {
+    union {
+        vec4 m;
+        struct {
+            double x, y, z, w;
+        };
+    };
+
+    Quaternion() : Quaternion(0.0, 0.0, 0.0, 0.0) {}
+    Quaternion(double x_, double y_, double z_, double w_) : x(x_), y(y_), z(z_), w(w_) {}
+    Quaternion(const vec4& vec) : m(vec) {}
+
+    Quaternion conjugate() const;
+    Quaternion normalized() const;
+    Quaternion multiply(const Quaternion& o) const;
+    double length() const;
+    vec3 transform(const vec3& v) const;
+    mat4 toRotationMatrix() const;
+
+    static Quaternion fromAxisAngle(const vec3& axis, double angleRad);
+    static Quaternion fromEulerAngles(double x, double y, double z);
+
+    static Quaternion identity;
+};
+
+bool operator==(const Quaternion&, const Quaternion&);
+bool operator!=(const Quaternion&, const Quaternion&);
+
+} // namespace mbgl
+\ No newline at end of file