Quaternion: Fix and enhance class incl. Extensive Unit Tests (all passed)

- Add documentation incl references (Matrix-FAQ, Euclideanspace, ..)

- Compared w/ other impl., i.e. WildMagic, Ardor3D, ..
  and added missing functionality incl unit tests.

- PMVMatrix: Added convenient Quaternion 'hooks'
  - glRotate(Quaternion)
  - glLoadMatrix(Quaternion)

1 files changed, 17 insertions, 0 deletions

diff --git a/src/jogl/classes/com/jogamp/opengl/util/PMVMatrix.java b/src/jogl/classes/com/jogamp/opengl/util/PMVMatrix.java
index 2001f8cdf..2d88f7937 100644
--- a/src/jogl/classes/com/jogamp/opengl/util/PMVMatrix.java
+++ b/src/jogl/classes/com/jogamp/opengl/util/PMVMatrix.java
@@ -48,6 +48,7 @@ import com.jogamp.common.nio.Buffers;
 import com.jogamp.common.os.Platform;
 import com.jogamp.common.util.FloatStack;
 import com.jogamp.opengl.math.FloatUtil;
+import com.jogamp.opengl.math.Quaternion;
 import com.jogamp.opengl.math.geom.Frustum;
 
 /**
@@ -535,6 +536,14 @@ public class PMVMatrix implements GLMatrixFunc {
         m.position(spos);
     }
 
+    /**
+     * Load the current matrix with the values of the given {@link Quaternion}'s rotation {@link Quaternion#toMatrix(float[], int) matrix representation}.
+     */
+    public final void glLoadMatrix(final Quaternion quat) {
+        quat.toMatrix(tmpMatrix, 0);
+        glLoadMatrixf(tmpMatrix, 0);
+    }
+
     @Override
     public final void glPopMatrix() {
         final FloatStack stack;
@@ -637,6 +646,14 @@ public class PMVMatrix implements GLMatrixFunc {
         glMultMatrixf(matrixRot, 0);
     }
 
+    /**
+     * Rotate the current matrix with the given {@link Quaternion}'s rotation {@link Quaternion#toMatrix(float[], int) matrix representation}.
+     */
+    public final void glRotate(final Quaternion quat) {
+        quat.toMatrix(tmpMatrix, 0);
+        glMultMatrixf(tmpMatrix, 0);
+    }
+
     @Override
     public final void glScalef(final float x, final float y, final float z) {
         // Scale matrix (Any Order):