94 lines
3.0 KiB
C++
94 lines
3.0 KiB
C++
// Copyright (C) 2013 Rémi Bèges - Jérôme Leclercq
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// This file is part of the "Nazara Engine - Mathematics 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_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() = default;
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NzQuaternion(T W, T X, T Y, T Z);
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NzQuaternion(const 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& ComputeW();
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NzQuaternion& Conjugate();
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T DotProduct(const NzQuaternion& vec) const;
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NzQuaternion GetConjugate() const;
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NzQuaternion GetInverse() const;
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NzQuaternion GetNormal(T* length = nullptr) const;
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NzQuaternion& Inverse();
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NzQuaternion& MakeIdentity();
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NzQuaternion& MakeRotationBetween(const NzVector3<T>& from, const NzVector3<T>& to);
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NzQuaternion& MakeZero();
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T Magnitude() const;
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NzQuaternion& Normalize(T* length = nullptr);
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NzQuaternion& Set(T W, T X, T Y, T Z);
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NzQuaternion& Set(const T quat[4]);
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NzQuaternion& Set(T angle, const NzVector3<T>& normalizedAxis);
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NzQuaternion& Set(const NzEulerAngles<T>& angles);
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//NzQuaternion& Set(const NzMatrix3<T>& mat);
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NzQuaternion& Set(const NzQuaternion& quat);
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template<typename U> NzQuaternion& Set(const NzQuaternion<U>& quat);
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T SquaredMagnitude() const;
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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);
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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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static NzQuaternion Identity();
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static NzQuaternion Lerp(const NzQuaternion& from, const NzQuaternion& to, T interpolation);
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static NzQuaternion RotationBetween(const NzVector3<T>& from, const NzVector3<T>& to);
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static NzQuaternion Slerp(const NzQuaternion& from, const NzQuaternion& to, T interpolation);
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static NzQuaternion Zero();
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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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