Quaternion.hpp

// Copyright (C) 2017 Rémi Bèges - Jérôme Leclercq
// This file is part of the "Nazara Engine - Mathematics module"
// For conditions of distribution and use, see copyright notice in Config.hpp

#pragma once

#ifndef NAZARA_QUATERNION_HPP
#define NAZARA_QUATERNION_HPP

#include <Nazara/Core/String.hpp>

namespace Nz
{
    struct SerializationContext;

    template<typename T> class EulerAngles;
    template<typename T> class Vector3;

    template<typename T> class Quaternion
    {
        public:
            Quaternion() = default;
            Quaternion(T W, T X, T Y, T Z);
            Quaternion(const EulerAngles<T>& angles);
            Quaternion(T angle, const Vector3<T>& axis);
            Quaternion(const T quat[4]);
            //Quaternion(const Matrix3<T>& mat);
            template<typename U> explicit Quaternion(const Quaternion<U>& quat);
            Quaternion(const Quaternion& quat) = default;
            ~Quaternion() = default;

            Quaternion& ComputeW();
            Quaternion& Conjugate();

            T DotProduct(const Quaternion& vec) const;

            Quaternion GetConjugate() const;
            Quaternion GetInverse() const;
            Quaternion GetNormal(T* length = nullptr) const;

            Quaternion& Inverse();

            Quaternion& MakeIdentity();
            Quaternion& MakeRotationBetween(const Vector3<T>& from, const Vector3<T>& to);
            Quaternion& MakeZero();

            T Magnitude() const;

            Quaternion& Normalize(T* length = nullptr);

            Quaternion& Set(T W, T X, T Y, T Z);
            Quaternion& Set(const EulerAngles<T>& angles);
            Quaternion& Set(T angle, const Vector3<T>& normalizedAxis);
            Quaternion& Set(const T quat[4]);
            //Quaternion& Set(const Matrix3<T>& mat);
            Quaternion& Set(const Quaternion& quat);
            template<typename U> Quaternion& Set(const Quaternion<U>& quat);

            T SquaredMagnitude() const;

            EulerAngles<T> ToEulerAngles() const;
            //Matrix3<T> ToRotationMatrix() const;
            String ToString() const;

            Quaternion& operator=(const Quaternion& quat) = default;

            Quaternion operator+(const Quaternion& quat) const;
            Quaternion operator*(const Quaternion& quat) const;
            Vector3<T> operator*(const Vector3<T>& vec) const;
            Quaternion operator*(T scale) const;
            Quaternion operator/(const Quaternion& quat) const;

            Quaternion& operator+=(const Quaternion& quat);
            Quaternion& operator*=(const Quaternion& quat);
            Quaternion& operator*=(T scale);
            Quaternion& operator/=(const Quaternion& quat);

            bool operator==(const Quaternion& quat) const;
            bool operator!=(const Quaternion& quat) const;

            static Quaternion Identity();
            static Quaternion Lerp(const Quaternion& from, const Quaternion& to, T interpolation);
            static Quaternion Normalize(const Quaternion& quat, T* length = nullptr);
            static Quaternion RotationBetween(const Vector3<T>& from, const Vector3<T>& to);
            static Quaternion Slerp(const Quaternion& from, const Quaternion& to, T interpolation);
            static Quaternion Zero();

            T w, x, y, z;
    };

    typedef Quaternion<double> Quaterniond;
    typedef Quaternion<float> Quaternionf;

    template<typename T> bool Serialize(SerializationContext& context, const Quaternion<T>& quat);
    template<typename T> bool Unserialize(SerializationContext& context, Quaternion<T>* quat);
}

template<typename T> std::ostream& operator<<(std::ostream& out, const Nz::Quaternion<T>& quat);

#include <Nazara/Math/Quaternion.inl>

#endif // NAZARA_QUATERNION_HPP