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SqMod/source/Base/Quaternion.hpp

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#ifndef _BASE_QUATERNION_HPP_
#define _BASE_QUATERNION_HPP_
// ------------------------------------------------------------------------------------------------
#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();
/* --------------------------------------------------------------------------------------------
* Construct from scalar value.
*/
explicit Quaternion(Value sv);
/* --------------------------------------------------------------------------------------------
* Construct from Euler angles (in degrees.)
*/
Quaternion(Value xv, Value yv, Value zv);
/* --------------------------------------------------------------------------------------------
* Construct from individual values.
*/
Quaternion(Value xv, Value yv, Value zv, Value wv);
/* --------------------------------------------------------------------------------------------
* Copy constructor.
*/
Quaternion(const Quaternion & o) = default;
/* --------------------------------------------------------------------------------------------
* Move constructor.
*/
Quaternion(Quaternion && o) = 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);
/* --------------------------------------------------------------------------------------------
* Post-decrement operator.
*/
Quaternion operator -- (int);
/* --------------------------------------------------------------------------------------------
* 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;
/* --------------------------------------------------------------------------------------------
* Used by the script engine to retrieve the name from instances of this type.
*/
static SQInteger Typename(HSQUIRRELVM vm);
/* --------------------------------------------------------------------------------------------
* 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(CSStr values, SQChar delim);
/* --------------------------------------------------------------------------------------------
* 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;
/* --------------------------------------------------------------------------------------------
* Extract the values for components of the Quaternion type from a string.
*/
static const Quaternion & Get(CSStr str);
/* --------------------------------------------------------------------------------------------
* Extract the values for components of the Quaternion type from a string.
*/
static const Quaternion & Get(CSStr str, SQChar delim);
};
} // Namespace:: SqMod
#endif // _BASE_QUATERNION_HPP_
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