112 lines
3.8 KiB
C++
112 lines
3.8 KiB
C++
#pragma once
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#include <J3ML/LinearAlgebra/Common.h>
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#include <J3ML/LinearAlgebra/Matrix3x3.h>
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#include <J3ML/LinearAlgebra/Matrix4x4.h>
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#include <J3ML/LinearAlgebra/Vector4.h>
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#include <J3ML/LinearAlgebra/AxisAngle.h>
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#include <cmath>
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namespace J3ML::LinearAlgebra
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{
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class Matrix3x3;
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class Quaternion : public Vector4 {
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public:
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Quaternion();
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Quaternion(const Quaternion &rhs) = default;
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explicit Quaternion(const Matrix3x3 &rotationMtrx);
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explicit Quaternion(const Matrix4x4 &rotationMtrx);
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// @note The input data is not normalized after construction, this has to be done manually.
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Quaternion(float X, float Y, float Z, float W);
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// Constructs this quaternion by specifying a rotation axis and the amount of rotation to be performed about that axis
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// @param rotationAxis The normalized rotation axis to rotate about. If using Vector4 version of the constructor, the w component of this vector must be 0.
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Quaternion(const Vector3 &rotationAxis, float rotationAngleBetween);
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Quaternion(const Vector4 &rotationAxis, float rotationAngleBetween);
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//void Inverted();
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explicit Quaternion(Vector4 vector4);
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explicit Quaternion(const EulerAngle& angle);
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explicit Quaternion(const AxisAngle& angle);
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void SetFromAxisAngle(const Vector3 &vector3, float between);
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void SetFromAxisAngle(const Vector4 &vector4, float between);
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void SetFrom(const AxisAngle& angle);
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Quaternion Inverse() const;
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Quaternion Conjugate() const;
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//void Normalize();
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Vector3 GetWorldX() const;
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Vector3 GetWorldY() const;
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Vector3 GetWorldZ() const;
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Vector3 GetAxis() const;
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float GetAngle() const;
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EulerAngle ToEulerAngle() const;
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Matrix3x3 ToMatrix3x3() const;
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Matrix4x4 ToMatrix4x4() const;
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Matrix4x4 ToMatrix4x4(const Vector3 &translation) const;
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Vector3 Transform(const Vector3& vec) const;
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Vector3 Transform(float X, float Y, float Z) const;
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// Note: We only transform the x,y,z components of 4D vectors, w is left untouched
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Vector4 Transform(const Vector4& vec) const;
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Vector4 Transform(float X, float Y, float Z, float W) const;
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Quaternion GetInverse() const;
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Quaternion Lerp(const Quaternion& b, float t) const;
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Quaternion Slerp(const Quaternion& q2, float t) const;
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Quaternion Normalize() const;
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static Quaternion LookAt(const Vector3& position, const Vector3& direction, const Vector3& axisUp);
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// TODO: Document (But do not override!) certain math functions that are the same for Vec4
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// TODO: Double Check which operations need to be overriden for correct behavior!
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// Multiplies two quaternions together.
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// The product q1 * q2 returns a quaternion that concatenates the two orientation rotations.
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// The rotation q2 is applied first before q1.
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Quaternion operator * (const Quaternion& rhs) const;
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Quaternion operator * (float scalar) const;
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// Transforms the given vector by this Quaternion.
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Vector3 operator * (const Vector3& rhs) const;
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Vector4 operator * (const Vector4& rhs) const;
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// Divides a quaternion by another. Divison "a / b" results in a quaternion that rotates the orientation b to coincide with orientation of
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Quaternion operator / (const Quaternion& rhs) const;
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Quaternion operator + (const Quaternion& rhs) const;
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Quaternion operator + () const;
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Quaternion operator - () const;
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float Dot(const Quaternion &quaternion) const;
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float Angle() const { return acos(w) * 2.f;}
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float AngleBetween(const Quaternion& target) const;
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AxisAngle ToAxisAngle() const;
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};
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} |