#pragma once // ------------------------------------------------------------------------------------------------ #include "SqBase.hpp" // ------------------------------------------------------------------------------------------------ namespace SqMod { /* ------------------------------------------------------------------------------------------------ * Quaternion class for representing rotations. */ struct Quaternion { /* -------------------------------------------------------------------------------------------- * The type of value used by components of type. */ typedef float Value; /* -------------------------------------------------------------------------------------------- * Helper instances for common values mostly used as return types or comparison. */ static const Quaternion NIL; static const Quaternion MIN; static const Quaternion MAX; static const Quaternion IDENTITY; /* -------------------------------------------------------------------------------------------- * The delimiter character to be used when extracting values from strings. */ static SQChar Delim; /* -------------------------------------------------------------------------------------------- * The x, y, z and w components of this type. */ Value x, y, z, w; /* -------------------------------------------------------------------------------------------- * Default constructor. */ Quaternion() noexcept; /* -------------------------------------------------------------------------------------------- * Construct from scalar value. */ explicit Quaternion(Value sv) noexcept; /* -------------------------------------------------------------------------------------------- * Construct from Euler angles (in degrees.) */ Quaternion(Value xv, Value yv, Value zv) noexcept; /* -------------------------------------------------------------------------------------------- * Construct from individual values. */ Quaternion(Value xv, Value yv, Value zv, Value wv) noexcept; /* -------------------------------------------------------------------------------------------- * Copy constructor. */ Quaternion(const Quaternion & o) noexcept = default; /* -------------------------------------------------------------------------------------------- * Move constructor. */ Quaternion(Quaternion && o) noexcept = default; /* -------------------------------------------------------------------------------------------- * Destructor. */ ~Quaternion() = default; /* -------------------------------------------------------------------------------------------- * Copy assignment operator. */ Quaternion & operator = (const Quaternion & o) = default; /* -------------------------------------------------------------------------------------------- * Move assignment operator. */ Quaternion & operator = (Quaternion && o) = default; /* -------------------------------------------------------------------------------------------- * Scalar value assignment operator. */ Quaternion & operator = (Value s); /* -------------------------------------------------------------------------------------------- * Euler assignment operator. */ Quaternion & operator = (const Vector3 & q); /* -------------------------------------------------------------------------------------------- * Four-dimensional vector assignment operator threated as a three-dimensional vector. */ Quaternion & operator = (const Vector4 & q); /* -------------------------------------------------------------------------------------------- * Addition assignment operator. */ Quaternion & operator += (const Quaternion & q); /* -------------------------------------------------------------------------------------------- * Subtraction assignment operator. */ Quaternion & operator -= (const Quaternion & q); /* -------------------------------------------------------------------------------------------- * Multiplication assignment operator. */ Quaternion & operator *= (const Quaternion & q); /* -------------------------------------------------------------------------------------------- * Division assignment operator. */ Quaternion & operator /= (const Quaternion & q); /* -------------------------------------------------------------------------------------------- * Modulo assignment operator. */ Quaternion & operator %= (const Quaternion & q); /* -------------------------------------------------------------------------------------------- * Scalar value addition assignment operator. */ Quaternion & operator += (Value s); /* -------------------------------------------------------------------------------------------- * Scalar value subtraction assignment operator. */ Quaternion & operator -= (Value s); /* -------------------------------------------------------------------------------------------- * Scalar value multiplication assignment operator. */ Quaternion & operator *= (Value s); /* -------------------------------------------------------------------------------------------- * Scalar value division assignment operator. */ Quaternion & operator /= (Value s); /* -------------------------------------------------------------------------------------------- * Scalar value modulo assignment operator. */ Quaternion & operator %= (Value s); /* -------------------------------------------------------------------------------------------- * Pre-increment operator. */ Quaternion & operator ++ (); /* -------------------------------------------------------------------------------------------- * Pre-decrement operator. */ Quaternion & operator -- (); /* -------------------------------------------------------------------------------------------- * Post-increment operator. */ Quaternion operator ++ (int); // NOLINT(cert-dcl21-cpp) /* -------------------------------------------------------------------------------------------- * Post-decrement operator. */ Quaternion operator -- (int); // NOLINT(cert-dcl21-cpp) /* -------------------------------------------------------------------------------------------- * Addition operator. */ Quaternion operator + (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Subtraction operator. */ Quaternion operator - (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Multiplication operator. */ Quaternion operator * (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Division operator. */ Quaternion operator / (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Modulo operator. */ Quaternion operator % (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Scalar value addition operator. */ Quaternion operator + (Value s) const; /* -------------------------------------------------------------------------------------------- * Scalar value subtraction operator. */ Quaternion operator - (Value s) const; /* -------------------------------------------------------------------------------------------- * Scalar value multiplication operator. */ Quaternion operator * (Value s) const; /* -------------------------------------------------------------------------------------------- * Scalar value division operator. */ Quaternion operator / (Value s) const; /* -------------------------------------------------------------------------------------------- * Scalar value modulo operator. */ Quaternion operator % (Value s) const; /* -------------------------------------------------------------------------------------------- * Unary plus operator. */ Quaternion operator + () const; /* -------------------------------------------------------------------------------------------- * Unary minus operator. */ Quaternion operator - () const; /* -------------------------------------------------------------------------------------------- * Equality comparison operator. */ bool operator == (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Inequality comparison operator. */ bool operator != (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Less than comparison operator. */ bool operator < (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Greater than comparison operator. */ bool operator > (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Less than or equal comparison operator. */ bool operator <= (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Greater than or equal comparison operator. */ bool operator >= (const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Used by the script engine to compare two instances of this type. */ Int32 Cmp(const Quaternion & q) const; /* -------------------------------------------------------------------------------------------- * Used by the script engine to compare an instance of this type with a scalar value. */ Int32 Cmp(SQFloat s) const { return Cmp(Quaternion(static_cast< Value >(s))); } /* -------------------------------------------------------------------------------------------- * Used by the script engine to compare an instance of this type with a scalar value. */ Int32 Cmp(SQInteger s) const { return Cmp(Quaternion(static_cast< Value >(s))); } /* -------------------------------------------------------------------------------------------- * Used by the script engine to compare an instance of this type with a scalar value. */ Int32 Cmp(bool s) const { return Cmp(Quaternion(static_cast< Value >(s))); } /* -------------------------------------------------------------------------------------------- * Used by the script engine to compare an instance of this type with a scalar value. */ Int32 Cmp(std::nullptr_t) const { return Cmp(Quaternion(static_cast< Value >(0))); } /* -------------------------------------------------------------------------------------------- * Used by the script engine to convert an instance of this type to a string. */ CSStr ToString() const; /* -------------------------------------------------------------------------------------------- * Set all components to the specified scalar value. */ void SetScalar(Value ns); /* -------------------------------------------------------------------------------------------- * Copy the values from another instance of this type. */ void SetQuaternion(const Quaternion & q); /* -------------------------------------------------------------------------------------------- * Set all components to the specified values. */ void SetQuaternionEx(Value nx, Value ny, Value nz, Value nw); /* -------------------------------------------------------------------------------------------- * Copy the values from a three-dimensional vector as euler rotation. */ void SetVector3(const Vector3 & v); /* -------------------------------------------------------------------------------------------- * Copy the values from a three-dimensional vector as euler rotation. */ void SetVector3Ex(Value nx, Value ny, Value nz); /* -------------------------------------------------------------------------------------------- * Copy the values from a four-dimensional vector. */ void SetVector4(const Vector4 & v); /* -------------------------------------------------------------------------------------------- * Set the values extracted from the specified string using the specified delimiter. */ void SetStr(SQChar delim, StackStrF & values); /* -------------------------------------------------------------------------------------------- * Generate random values for all components of this instance. */ void Generate(); /* -------------------------------------------------------------------------------------------- * Generate random values for all components of this instance within the specified bounds. */ void Generate(Value min, Value max); /* -------------------------------------------------------------------------------------------- * Generate random values for all components of this instance within the specified bounds. */ void Generate(Value xmin, Value xmax, Value ymin, Value ymax, Value zmin, Value zmax, Value wmin, Value wmax); /* -------------------------------------------------------------------------------------------- * Clear the component values to default. */ void Clear() { x = 0.0, y = 0.0, z = 0.0, w = 0.0; } /* -------------------------------------------------------------------------------------------- * Retrieve a new instance of this type with absolute component values. */ Quaternion Abs() const; /* -------------------------------------------------------------------------------------------- * Return whether is NaN. */ bool IsNaN() const; /* -------------------------------------------------------------------------------------------- * Return squared length. */ Value LengthSquared() const; /* -------------------------------------------------------------------------------------------- * Calculate dot product. */ Value DotProduct(const Quaternion & quat) const; /* -------------------------------------------------------------------------------------------- * Return conjugate. */ Quaternion Conjugate() const; /* -------------------------------------------------------------------------------------------- * Normalize to unit length. */ void Normalize(); /* -------------------------------------------------------------------------------------------- * Return normalized to unit length. */ Quaternion Normalized() const; /* -------------------------------------------------------------------------------------------- * Define from an angle (in degrees) and axis. */ void FromAngleAxis(Value angle, const Vector3 & axis); /* -------------------------------------------------------------------------------------------- * Define from the rotation difference between two direction vectors. */ void FromRotationTo(const Vector3 & start, const Vector3 & end); /* -------------------------------------------------------------------------------------------- * Return inverse. */ Quaternion Inverse() const; /* -------------------------------------------------------------------------------------------- * Return Euler angles in degrees. */ Vector3 ToEuler() const; /* -------------------------------------------------------------------------------------------- * Return yaw angle in degrees. */ Value YawAngle() const; /* -------------------------------------------------------------------------------------------- * Return pitch angle in degrees. */ Value PitchAngle() const; /* -------------------------------------------------------------------------------------------- * Return roll angle in degrees. */ Value RollAngle() const; /* -------------------------------------------------------------------------------------------- * Spherical interpolation with another quaternion. */ Quaternion Slerp(Quaternion quat, Value t) const; /* -------------------------------------------------------------------------------------------- * Normalized linear interpolation with another quaternion. */ Quaternion Nlerp(const Quaternion & quat, Value t) const; /* -------------------------------------------------------------------------------------------- * Normalized linear interpolation with another quaternion. */ Quaternion NlerpEx(const Quaternion & quat, Value t, bool shortest_path) const; /* -------------------------------------------------------------------------------------------- * Generate a formatted string with the values from this instance. */ LightObj Format(const String & spec, StackStrF & fmt) const; /* -------------------------------------------------------------------------------------------- * Extract the values for components of the Quaternion type from a string. */ static const Quaternion & Get(StackStrF & str); /* -------------------------------------------------------------------------------------------- * Extract the values for components of the Quaternion type from a string. */ static const Quaternion & GetEx(SQChar delim, StackStrF & str); }; } // Namespace:: SqMod