Quaternion.hpp

#pragma once
#ifdef StevEngine_PHYSICS
#include <Jolt/Jolt.h>
#endif
#include <string>
 
#include "Vector3.hpp"
 
namespace StevEngine::Utilities {
    class Vector4;

    class Quaternion {
        public:
            //Values
            double W, X, Y, Z;  
 
            //Constructors
            Quaternion(double w, double x, double y, double z);

            Quaternion(double w, Vector3 vector);

            Quaternion(const Quaternion& from);

            Quaternion();
 
            //Directions
            Vector3 Forward() const;

            Vector3 Right() const;

            Vector3 Up() const;

            Quaternion& Conjugate();

            Quaternion& Inverse();
 
            //Functions
            Quaternion Get() const;              
            double Magnitude() const;          
            Quaternion& Normalize();          
            Quaternion Normalized() const;     

            std::tuple<double, Vector3> GetAngleAxis() const;
 
            //Operators
            Quaternion  operator+ (const Quaternion& other) const;  
            Quaternion  operator- (const Quaternion& other) const;  
            Quaternion  operator* (const Quaternion& other) const;  
            Quaternion  operator* (const double& other) const;    
            Quaternion  operator/ (const double& other) const;    
            Quaternion& operator*= (const Quaternion& other);       
            bool operator== (const Quaternion& other) const;       
 
            //Vector operators
            Vector3 operator*(const Vector3& v) const;
 
            //Conversions
            explicit operator std::string() const;  
            explicit operator Vector4() const;     
 
            #ifdef StevEngine_PHYSICS
            operator JPH::Quat() const;                 
            Quaternion& operator= (const JPH::Quat& other);  
            Quaternion(const JPH::Quat& other);            
            #endif
 
            //Static methods
            static Quaternion FromAngleAxis(double angle, Vector3 axis);

            static double Angle(const Quaternion& a, const Quaternion& b);

            static Quaternion Lerp(const Quaternion& a, const Quaternion& b, double t);

            static Quaternion Slerp(const Quaternion& a, const Quaternion& b, double t);

            static Quaternion FromToRotation(Vector3 fromDirection, Vector3 toDirection);

            static Quaternion LookRotation(Vector3 forward, const Vector3& upwards = Vector3::up);

            static Quaternion Inverse(const Quaternion& q);

            static Quaternion Conjugate(const Quaternion& q);

            static double Dot(const Quaternion& a, const Quaternion& b);

            static double DegreesToRadians(double degrees);

            static double RadiansToDegrees(double radians);
    };
}