Quaternion.hpp

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/*
Copyright (C) 2017-2019,2025,2026 Rodrigo Jose Hernandez Cordoba
 
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
 
http://www.apache.org/licenses/LICENSE-2.0
 
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.
*/
 
#ifndef AEONGAMES_QUATERNION_H
#define AEONGAMES_QUATERNION_H
 
#include "aeongames/Platform.hpp"
 
namespace AeonGames
{
    class Matrix4x4;
    class Matrix3x3;
    class Vector3;
    class Quaternion
    {
    public:
        DLL Quaternion();
        DLL Quaternion ( float w, float x, float y, float z );
        DLL Quaternion ( const float* aData );
        DLL void Get ( float* aData ) const;
        DLL ~Quaternion();
        DLL Matrix4x4 GetMatrix4x4() const;
        DLL Matrix3x3 GetMatrix3x3() const;

        DLL Quaternion& operator= ( const float* aLhs );
        DLL Quaternion& operator*= ( const Quaternion& lhs );
        DLL float operator[] ( const size_t aIndex ) const;
        DLL float& operator [] ( const size_t aIndex );

        DLL static const Quaternion GetFromAxisAngle ( float angle, float x, float y, float z );
        DLL static const Quaternion GetFromEuler ( const Vector3& aEuler );
        DLL Quaternion& Normalize();
        DLL Vector3 GetEuler() const;
        DLL Quaternion& SetEuler ( const Vector3& aEuler );
    private:
        float mQuaternion[4] {1.0f, 0.0f, 0.0f, 0.0f};
    };

    DLL const Quaternion operator* ( const Quaternion& lhs, const Quaternion& rhs );
    DLL const Vector3 operator* ( const Quaternion& lhs, const Vector3& rhs );
    DLL bool operator== ( const Quaternion& lhs, const Quaternion& rhs );
 

    DLL const Quaternion LerpQuats ( const Quaternion& q1, const Quaternion& q2, double interpolation );

    DLL const Quaternion NlerpQuats ( const Quaternion& q1, const Quaternion& q2, double interpolation );

    DLL const Quaternion SlerpQuats ( const Quaternion& q1, const Quaternion& q2, float interpolation );
}
#endif