TQuaternion.h

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#pragma once
#include "Math/TVector3.h"
#include "Math/TVector4.h"
 
TOSHI_NAMESPACE_START
 
class TQuaternion
{
public:
    TQuaternion()
        : x( 0.0f ), y( 0.0f ), z( 0.0f ), w( 1.0f )
    {}
 
    TQuaternion( const TQuaternion& a_pQuaternion )
        : x( a_pQuaternion.x ), y( a_pQuaternion.y ), z( a_pQuaternion.z ), w( a_pQuaternion.w ) {}
 
    TQuaternion( TFLOAT a_fX, TFLOAT a_fY, TFLOAT a_fZ, TFLOAT a_fW )
        : x( a_fX ), y( a_fY ), z( a_fZ ), w( a_fW ) {}
 
    void Set( TFLOAT a_fX, TFLOAT a_fY, TFLOAT a_fZ, TFLOAT a_fW )
    {
        x = a_fX;
        y = a_fY;
        z = a_fZ;
        w = a_fW;
    }
 
    void SetIdentity()
    {
        Set(
            TQuaternion::IDENTITY.x,
            TQuaternion::IDENTITY.y,
            TQuaternion::IDENTITY.z,
            TQuaternion::IDENTITY.w
        );
    }
 
    void SetFromEulerYX( const TFLOAT* fVal );
    void SetFromEulerRollPitchYaw( TFLOAT a_fRoll, TFLOAT a_fPitch, TFLOAT a_fYaw );
 
    inline void SetConjugate() { AsVector4().Negate3(); }
    inline void SetInverse() { SetConjugate(); }
    void        SetRotation( const TVector3& a_rVec3, TFLOAT a_fVal );
    void        SetVectorDirection( const TVector3& a_rVec3, const TVector3& a_rVec3_2 );
 
    static void RotateVector( TVector3& param_1, const TQuaternion& param_2, const TVector3 param_3 );
    void        RotateAroundAxis( const TVector3& param_1, TFLOAT param_2 );
 
    void Negate() { Set( -x, -y, -z, -w ); }
    void GetEulerXYZ( TVector3& outVec ) const;
 
    TFLOAT Magnitude() const { return TMath::Sqrt( w * w + z * z + y * y + x * x ); }
    TFLOAT MagnitudeSq() const { return w * w + z * z + y * y + x * x; }
 
    const TVector4& AsVector4() const { return reinterpret_cast<const TVector4&>( *this ); }
    TVector4&       AsVector4() { return reinterpret_cast<TVector4&>( *this ); }
 
    void         operator=( const TQuaternion& other ) { Set( other.x, other.y, other.z, other.w ); }
    TQuaternion& operator*=( const TQuaternion& a_rQuat );
 
    static void Nlerp( TQuaternion& a_rOut, const TQuaternion& a_rStart, const TQuaternion& a_rEnd, float a_fProgress );
    static void Slerp( TQuaternion& a_rOut, const TQuaternion& a_rStart, const TQuaternion& a_rEnd, float a_fProgress );
 
public:
    static const TQuaternion       IDENTITY;
    static inline constexpr TFLOAT DELTA = 0.001f;
 
public:
    TFLOAT x, y, z, w;
};
 
TOSHI_NAMESPACE_END