105 lines
4.1 KiB
C++
105 lines
4.1 KiB
C++
// Copyright (C) 2023 Rémi Bèges - Jérôme "Lynix" Leclercq (lynix680@gmail.com)
|
|
// This file is part of the "Nazara Engine - Math module"
|
|
// For conditions of distribution and use, see copyright notice in Config.hpp
|
|
|
|
#pragma once
|
|
|
|
#ifndef NAZARA_MATH_QUATERNION_HPP
|
|
#define NAZARA_MATH_QUATERNION_HPP
|
|
|
|
#include <Nazara/Math/Angle.hpp>
|
|
#include <Nazara/Math/EulerAngles.hpp>
|
|
#include <Nazara/Math/Vector3.hpp>
|
|
#include <string>
|
|
|
|
namespace Nz
|
|
{
|
|
struct SerializationContext;
|
|
|
|
template<typename T> class Quaternion
|
|
{
|
|
public:
|
|
constexpr Quaternion() = default;
|
|
constexpr Quaternion(T W, T X, T Y, T Z);
|
|
template<AngleUnit Unit> Quaternion(const Angle<Unit, T>& angle);
|
|
Quaternion(const EulerAngles<T>& angles);
|
|
constexpr Quaternion(RadianAngle<T> angle, const Vector3<T>& axis);
|
|
constexpr Quaternion(const T quat[4]);
|
|
template<typename U> constexpr explicit Quaternion(const Quaternion<U>& quat);
|
|
constexpr Quaternion(const Quaternion&) = default;
|
|
constexpr Quaternion(Quaternion&&) = default;
|
|
~Quaternion() = default;
|
|
|
|
RadianAngle<T> AngleBetween(const Quaternion& vec) const;
|
|
constexpr bool ApproxEqual(const Quaternion& quat, T maxDifference = std::numeric_limits<T>::epsilon()) const;
|
|
|
|
Quaternion& ComputeW();
|
|
constexpr Quaternion& Conjugate();
|
|
|
|
constexpr T DotProduct(const Quaternion& vec) const;
|
|
|
|
constexpr Quaternion GetConjugate() const;
|
|
Quaternion GetInverse() const;
|
|
Quaternion GetNormal(T* length = nullptr) const;
|
|
|
|
Quaternion& Inverse();
|
|
|
|
T Magnitude() const;
|
|
|
|
Quaternion& Normalize(T* length = nullptr);
|
|
|
|
constexpr T SquaredMagnitude() const;
|
|
|
|
RadianAngle<T> To2DAngle() const;
|
|
EulerAngles<T> ToEulerAngles() const;
|
|
std::string ToString() const;
|
|
|
|
constexpr Quaternion& operator=(const Quaternion& quat) = default;
|
|
constexpr Quaternion& operator=(Quaternion&&) = default;
|
|
|
|
constexpr Quaternion operator+(const Quaternion& quat) const;
|
|
constexpr Quaternion operator*(const Quaternion& quat) const;
|
|
constexpr Vector3<T> operator*(const Vector3<T>& vec) const;
|
|
constexpr Quaternion operator*(T scale) const;
|
|
constexpr Quaternion operator/(const Quaternion& quat) const;
|
|
|
|
constexpr Quaternion& operator+=(const Quaternion& quat);
|
|
constexpr Quaternion& operator*=(const Quaternion& quat);
|
|
constexpr Quaternion& operator*=(T scale);
|
|
constexpr Quaternion& operator/=(const Quaternion& quat);
|
|
|
|
constexpr bool operator==(const Quaternion& quat) const;
|
|
constexpr bool operator!=(const Quaternion& quat) const;
|
|
constexpr bool operator<(const Quaternion& quat) const;
|
|
constexpr bool operator<=(const Quaternion& quat) const;
|
|
constexpr bool operator>(const Quaternion& quat) const;
|
|
constexpr bool operator>=(const Quaternion& quat) const;
|
|
|
|
static RadianAngle<T> AngleBetween(const Quaternion& lhs, const Quaternion& rhs);
|
|
static constexpr bool ApproxEqual(const Quaternion& lhs, const Quaternion& rhs, T maxDifference = std::numeric_limits<T>::epsilon());
|
|
static constexpr Quaternion Identity();
|
|
static constexpr Quaternion Lerp(const Quaternion& from, const Quaternion& to, T interpolation);
|
|
static Quaternion LookAt(const Vector3<T>& forward, const Vector3<T>& up);
|
|
static Quaternion Normalize(const Quaternion& quat, T* length = nullptr);
|
|
static Quaternion RotationBetween(const Vector3<T>& from, const Vector3<T>& to);
|
|
static Quaternion RotateTowards(const Quaternion& from, const Quaternion& to, RadianAngle<T> maxRotation);
|
|
static Quaternion Mirror(Quaternion quat, const Vector3<T>& axis);
|
|
static Quaternion Slerp(const Quaternion& from, const Quaternion& to, T interpolation);
|
|
static constexpr Quaternion Zero();
|
|
|
|
T w, x, y, z;
|
|
};
|
|
|
|
using Quaterniond = Quaternion<double>;
|
|
using Quaternionf = Quaternion<float>;
|
|
|
|
template<typename T> bool Serialize(SerializationContext& context, const Quaternion<T>& quat, TypeTag<Quaternion<T>>);
|
|
template<typename T> bool Unserialize(SerializationContext& context, Quaternion<T>* quat, TypeTag<Quaternion<T>>);
|
|
|
|
template<typename T> std::ostream& operator<<(std::ostream& out, const Nz::Quaternion<T>& quat);
|
|
}
|
|
|
|
#include <Nazara/Math/Quaternion.inl>
|
|
|
|
#endif // NAZARA_MATH_QUATERNION_HPP
|