106 lines
3.5 KiB
C++
106 lines
3.5 KiB
C++
// Copyright (C) 2021 Rémi Bèges - Jérôme "Lynix" Leclercq (lynix680@gmail.com)
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// This file is part of the "Nazara Engine - Math module"
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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_MATH_QUATERNION_HPP
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#define NAZARA_MATH_QUATERNION_HPP
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#include <Nazara/Math/Angle.hpp>
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#include <string>
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namespace Nz
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{
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struct SerializationContext;
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template<typename T> class EulerAngles;
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template<typename T> class Vector3;
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template<typename T> class Quaternion
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{
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public:
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Quaternion() = default;
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Quaternion(T W, T X, T Y, T Z);
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template<AngleUnit Unit> Quaternion(const Angle<Unit, T>& angle);
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Quaternion(const EulerAngles<T>& angles);
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Quaternion(RadianAngle<T> angle, const Vector3<T>& axis);
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Quaternion(const T quat[4]);
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//Quaternion(const Matrix3<T>& mat);
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template<typename U> explicit Quaternion(const Quaternion<U>& quat);
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Quaternion(const Quaternion& quat) = default;
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~Quaternion() = default;
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Quaternion& ComputeW();
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Quaternion& Conjugate();
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T DotProduct(const Quaternion& vec) const;
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Quaternion GetConjugate() const;
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Quaternion GetInverse() const;
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Quaternion GetNormal(T* length = nullptr) const;
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Quaternion& Inverse();
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Quaternion& MakeIdentity();
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Quaternion& MakeRotationBetween(const Vector3<T>& from, const Vector3<T>& to);
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Quaternion& MakeZero();
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T Magnitude() const;
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Quaternion& Normalize(T* length = nullptr);
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Quaternion& Set(T W, T X, T Y, T Z);
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template<AngleUnit Unit> Quaternion& Set(const Angle<Unit, T>& angle);
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Quaternion& Set(const EulerAngles<T>& angles);
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Quaternion& Set(RadianAngle<T> angle, const Vector3<T>& normalizedAxis);
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Quaternion& Set(const T quat[4]);
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//Quaternion& Set(const Matrix3<T>& mat);
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template<typename U> Quaternion& Set(const Quaternion<U>& quat);
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T SquaredMagnitude() const;
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RadianAngle<T> To2DAngle() const;
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EulerAngles<T> ToEulerAngles() const;
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//Matrix3<T> ToRotationMatrix() const;
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std::string ToString() const;
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Quaternion& operator=(const Quaternion& quat) = default;
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Quaternion operator+(const Quaternion& quat) const;
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Quaternion operator*(const Quaternion& quat) const;
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Vector3<T> operator*(const Vector3<T>& vec) const;
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Quaternion operator*(T scale) const;
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Quaternion operator/(const Quaternion& quat) const;
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Quaternion& operator+=(const Quaternion& quat);
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Quaternion& operator*=(const Quaternion& quat);
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Quaternion& operator*=(T scale);
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Quaternion& operator/=(const Quaternion& quat);
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bool operator==(const Quaternion& quat) const;
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bool operator!=(const Quaternion& quat) const;
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static Quaternion Identity();
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static Quaternion Lerp(const Quaternion& from, const Quaternion& to, T interpolation);
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static Quaternion Normalize(const Quaternion& quat, T* length = nullptr);
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static Quaternion RotationBetween(const Vector3<T>& from, const Vector3<T>& to);
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static Quaternion Slerp(const Quaternion& from, const Quaternion& to, T interpolation);
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static Quaternion Zero();
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T w, x, y, z;
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};
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using Quaterniond = Quaternion<double>;
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using Quaternionf = Quaternion<float>;
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template<typename T> bool Serialize(SerializationContext& context, const Quaternion<T>& quat, TypeTag<Quaternion<T>>);
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template<typename T> bool Unserialize(SerializationContext& context, Quaternion<T>* quat, TypeTag<Quaternion<T>>);
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}
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template<typename T> std::ostream& operator<<(std::ostream& out, const Nz::Quaternion<T>& quat);
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#include <Nazara/Math/Quaternion.inl>
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#endif // NAZARA_MATH_QUATERNION_HPP
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