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Kbz-8
2025-06-16 15:18:27 +02:00
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Runtime/Includes/Maths/Quaternions.h git.filemode.normal_file
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#ifndef __SCOP_QUATERNIONS__
#define __SCOP_QUATERNIONS__
#include <Maths/Angles.h>
#include <Maths/Vec3.h>
namespace Scop
{
template<typename T>
struct Quat
{
T w, x, y, z;
constexpr Quat() = default;
constexpr Quat(T W, T X, T Y, T Z);
template<AngleUnit Unit> Quat(const Angle<Unit, T>& angle);
Quat(const EulerAngles<T>& angles);
constexpr Quat(RadianAngle<T> angle, const Vec3<T>& axis);
constexpr Quat(const T quat[4]);
template<typename U> constexpr explicit Quat(const Quat<U>& quat);
constexpr Quat(const Quat&) = default;
constexpr Quat(Quat&&) = default;
~Quat() = default;
RadianAngle<T> AngleBetween(const Quat& vec) const;
constexpr bool ApproxEqual(const Quat& quat, T maxDifference = std::numeric_limits<T>::epsilon()) const;
Quat& ComputeW();
constexpr Quat& Conjugate();
constexpr T DotProduct(const Quat& vec) const;
constexpr Quat GetConjugate() const;
Quat GetInverse() const;
Quat GetNormal(T* length = nullptr) const;
Quat& Inverse();
T Magnitude() const;
Quat& Normalize(T* length = nullptr);
constexpr T SquaredMagnitude() const;
RadianAngle<T> To2DAngle() const;
EulerAngles<T> ToEulerAngles() const;
std::string ToString() const;
constexpr Quat& operator=(const Quat& quat) = default;
constexpr Quat& operator=(Quat&&) = default;
constexpr Quat operator+(const Quat& quat) const;
constexpr Quat operator*(const Quat& quat) const;
constexpr Vec3<T> operator*(const Vec3<T>& vec) const;
constexpr Quat operator*(T scale) const;
constexpr Quat operator/(const Quat& quat) const;
constexpr Quat& operator+=(const Quat& quat);
constexpr Quat& operator*=(const Quat& quat);
constexpr Quat& operator*=(T scale);
constexpr Quat& operator/=(const Quat& quat);
constexpr bool operator==(const Quat& quat) const;
constexpr bool operator!=(const Quat& quat) const;
constexpr bool operator<(const Quat& quat) const;
constexpr bool operator<=(const Quat& quat) const;
constexpr bool operator>(const Quat& quat) const;
constexpr bool operator>=(const Quat& quat) const;
static RadianAngle<T> AngleBetween(const Quat& lhs, const Quat& rhs);
static constexpr bool ApproxEqual(const Quat& lhs, const Quat& rhs, T maxDifference = std::numeric_limits<T>::epsilon());
static constexpr Quat Identity();
static constexpr Quat Lerp(const Quat& from, const Quat& to, T interpolation);
static Quat LookAt(const Vec3<T>& forward, const Vec3<T>& up);
static Quat Normalize(const Quat& quat, T* length = nullptr);
static Quat RotationBetween(const Vec3<T>& from, const Vec3<T>& to);
static Quat RotateTowards(const Quat& from, const Quat& to, RadianAngle<T> maxRotation);
static Quat Mirror(Quat quat, const Vec3<T>& axis);
static Quat Slerp(const Quat& from, const Quat& to, T interpolation);
static constexpr Quat Zero();
};
using Quatd = Quat<double>;
using Quatf = Quat<float>;
template<typename T> std::ostream& operator<<(std::ostream& out, const Quat<T>& quat);
}
#include <Maths/Quaternions.inl>
#endif