spk_quaternion.hpp

#pragma once
 
#include "structure/math/spk_vector3.hpp"
#include <cmath>
 
namespace spk
{
    class Quaternion
    {
    public:
        float x;
        float y;
        float z;
        float w;

        Quaternion();
        Quaternion(float p_x, float p_y, float p_z, float p_w);

        friend std::wostream &operator<<(std::wostream &p_os, const Quaternion &p_vec)
        {
            p_os << L"(" << p_vec.x << L", " << p_vec.y << L", " << p_vec.z << L", " << p_vec.w << L")";
            return p_os;
        }

        friend std::ostream &operator<<(std::ostream &p_os, const Quaternion &p_vec)
        {
            p_os << "(" << p_vec.x << ", " << p_vec.y << ", " << p_vec.z << ", " << p_vec.w << ")";
            return p_os;
        }

        std::wstring toWstring() const;
        std::string toString() const;

        static Quaternion identity();

        static Quaternion fromEuler(const Vector3 &p_euler);
        Vector3 toEuler() const;

        static Quaternion fromAxisAngle(const Vector3 &p_axis, float p_angle);

        Quaternion normalize() const;

        Quaternion operator*(const Quaternion &p_rhs) const;
        Vector3 operator*(const Vector3 &p_rhs) const;

        Vector3 rotate(const Vector3 &p_v) const;

        static Quaternion lookAt(const Vector3 &p_eye, const Vector3 &p_target, const Vector3 &p_up);
    };
}