Quaternion.h

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// This Source Code Form is subject to the terms of the Mozilla Public
// License, v. 2.0.If a copy of the MPL was not distributed with this
// file, You can obtain one at https ://mozilla.org/MPL/2.0/.
 
#ifndef QUATERNION_H
#define QUATERNION_H
 
#include "Vector3.h"
 
namespace Passer {
namespace LinearAlgebra {
 
extern "C" {
typedef struct Quat {
  float x;
  float y;
  float z;
  float w;
} Quat;
}
 
struct Quaternion : Quat {
public:
  Quaternion();
  Quaternion(float _x, float _y, float _z, float _w);
  Quaternion(Quat q);
  ~Quaternion();
 
  const static Quaternion identity;
 
  void Normalize();
  static Quaternion Normalize(const Quaternion &q);
 
  static Vector3 ToAngles(const Quaternion &q);
 
  Vector3 operator*(const Vector3 &vector) const;
  Quaternion operator*(const Quaternion &rotation) const;
 
  bool operator==(const Quaternion &quaternion);
 
  static Quaternion Inverse(Quaternion quaternion);
 
  static Quaternion LookRotation(const Vector3 &forward,
                                 const Vector3 &upwards);
  static Quaternion LookRotation(const Vector3 &forward);
 
  static Quaternion FromToRotation(Vector3 fromDirection, Vector3 toDirection);
 
  static Quaternion RotateTowards(const Quaternion &from, const Quaternion &to,
                                  float maxDegreesDelta);
 
  static Quaternion AngleAxis(float angle, const Vector3 &axis);
  void ToAngleAxis(float *angle, Vector3 *axis);
 
  static float Angle(Quaternion orientation1, Quaternion orientation2);
  static Quaternion Slerp(const Quaternion &rotation1,
                          const Quaternion &rotation2, float factor);
  static Quaternion SlerpUnclamped(const Quaternion &rotation1,
                                   const Quaternion &rotation2, float factor);
 
  static Quaternion Euler(float x, float y, float z);
  static Quaternion Euler(Vector3 eulerAngles);
 
  static Quaternion EulerXYZ(float x, float y, float z);
  static Quaternion EulerXYZ(Vector3 eulerAngles);
 
  static float GetAngleAround(Vector3 axis, Quaternion rotation);
  static Quaternion GetRotationAround(Vector3 axis, Quaternion rotation);
  static void GetSwingTwist(Vector3 axis, Quaternion rotation,
                            Quaternion *swing, Quaternion *twist);
 
  static float Dot(Quaternion rotation1, Quaternion rotation2);
 
private:
  float GetLength() const;
  float GetLengthSquared() const;
  static float GetLengthSquared(const Quaternion &q);
 
  void ToAxisAngleRad(const Quaternion &q, Vector3 *const axis, float *angle);
  static Quaternion FromEulerRad(Vector3 euler);
  static Quaternion FromEulerRadXYZ(Vector3 euler);
 
  Vector3 xyz() const;
};
 
} // namespace LinearAlgebra
} // namespace Passer
using namespace Passer::LinearAlgebra;
 
#endif