92 lines
3.0 KiB
C++
92 lines
3.0 KiB
C++
#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
|