79 lines
2.4 KiB
C++
79 lines
2.4 KiB
C++
// Copyright (C) 2012 Rémi Begues
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// Jérôme Leclercq
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// This file is part of the "Nazara Engine".
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// For conditions of distribution and use, see copyright notice in Config.hpp
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#pragma once
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#ifndef NAZARA_QUATERNION_HPP
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#define NAZARA_QUATERNION_HPP
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#include <Nazara/Core/String.hpp>
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template<typename T> class NzEulerAngles;
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template<typename T> class NzVector3;
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template<typename T> class NzQuaternion
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{
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public:
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NzQuaternion();
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NzQuaternion(T W, T X, T Y, T Z);
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NzQuaternion(T quat[4]);
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NzQuaternion(T angle, const NzVector3<T>& axis);
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NzQuaternion(const NzEulerAngles<T>& angles);
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//NzQuaternion(const NzMatrix3<T>& mat);
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template<typename U> explicit NzQuaternion(const NzQuaternion<U>& quat);
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NzQuaternion(const NzQuaternion& quat) = default;
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~NzQuaternion() = default;
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NzQuaternion GetConjugate() const;
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NzQuaternion GetNormalized() const;
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double Magnitude() const;
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double Normalize();
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T SquaredMagnitude() const;
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void Set(T W, T X, T Y, T Z);
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void Set(T quat[4]);
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void Set(T angle, const NzVector3<T>& normalizedAxis);
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void Set(const NzEulerAngles<T>& angles);
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//void Set(const NzMatrix3<T>& mat);
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void Set(const NzQuaternion& quat);
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template<typename U> void Set(const NzQuaternion<U>& quat);
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void SetIdentity();
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void SetZero();
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NzEulerAngles<T> ToEulerAngles() const;
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//NzMatrix3<T> ToRotationMatrix() const;
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NzString ToString() const;
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NzQuaternion operator+(const NzQuaternion& quat) const;
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NzQuaternion operator*(const NzQuaternion& quat) const;
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NzVector3<T> operator*(const NzVector3<T>& vec) const;
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NzQuaternion operator*(T scale) const;
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NzQuaternion operator/(const NzQuaternion& quat) const;
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NzQuaternion operator+=(const NzQuaternion& quat);
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NzQuaternion operator*=(const NzQuaternion& quat);
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NzQuaternion operator*=(T scale);
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NzQuaternion operator/=(const NzQuaternion& quat);
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bool operator==(const NzQuaternion& quat) const;
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bool operator!=(const NzQuaternion& quat) const;
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bool operator<(const NzQuaternion& quat) const;
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bool operator<=(const NzQuaternion& quat) const;
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bool operator>(const NzQuaternion& quat) const;
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bool operator>=(const NzQuaternion& quat) const;
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T w, x, y, z;
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};
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template<typename T> std::ostream& operator<<(std::ostream& out, const NzQuaternion<T>& quat);
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typedef NzQuaternion<double> NzQuaterniond;
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typedef NzQuaternion<float> NzQuaternionf;
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#include <Nazara/Math/Quaternion.inl>
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#endif // NAZARA_QUATERNION_HPP
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