SqMod/source/Base/Quaternion.cpp

// ------------------------------------------------------------------------------------------------
#include "Base/Quaternion.hpp"
#include "Base/Vector3.hpp"
#include "Base/Vector4.hpp"
#include "Base/Shared.hpp"
#include "Library/Numeric/Random.hpp"

// ------------------------------------------------------------------------------------------------
#include <limits>

// ------------------------------------------------------------------------------------------------
namespace SqMod {

// ------------------------------------------------------------------------------------------------
const Quaternion Quaternion::NIL(0);
const Quaternion Quaternion::MIN(std::numeric_limits< Quaternion::Value >::min());
const Quaternion Quaternion::MAX(std::numeric_limits< Quaternion::Value >::max());
const Quaternion Quaternion::IDENTITY(1.0, 0.0, 0.0, 0.0);

// ------------------------------------------------------------------------------------------------
SQChar Quaternion::Delim = ',';

// ------------------------------------------------------------------------------------------------
SQInteger Quaternion::Typename(HSQUIRRELVM vm)
{
    static const SQChar name[] = _SC("Quaternion");
    sq_pushstring(vm, name, sizeof(name));
    return 1;
}

// ------------------------------------------------------------------------------------------------
Quaternion::Quaternion()
    : x(0.0), y(0.0), z(0.0), w(0.0)
{
    /* ... */
}

// ------------------------------------------------------------------------------------------------
Quaternion::Quaternion(Value sv)
    : x(sv), y(sv), z(sv), w(sv)
{
    /* ... */
}

// ------------------------------------------------------------------------------------------------
Quaternion::Quaternion(Value xv, Value yv, Value zv)
    : x(xv), y(yv), z(zv), w(0.0)
{
    /* ... */
}

// ------------------------------------------------------------------------------------------------
Quaternion::Quaternion(Value xv, Value yv, Value zv, Value wv)
    : x(xv), y(yv), z(zv), w(wv)
{
    /* ... */
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator = (Value s)
{
    x = s;
    y = s;
    z = s;
    w = s;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator = (const Vector3 & q)
{
    x = q.x;
    y = q.y;
    z = q.z;
    w = 0.0;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator = (const Vector4 & q)
{
    x = q.x;
    y = q.y;
    z = q.z;
    w = q.w;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator += (const Quaternion & q)
{
    x += q.x;
    y += q.y;
    z += q.z;
    w += q.w;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator -= (const Quaternion & q)
{
    x -= q.x;
    y -= q.y;
    z -= q.z;
    w -= q.w;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator *= (const Quaternion & q)
{
    x *= q.x;
    y *= q.y;
    z *= q.z;
    w *= q.w;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator /= (const Quaternion & q)
{
    x /= q.x;
    y /= q.y;
    z /= q.z;
    w /= q.w;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator %= (const Quaternion & q)
{
    x = std::fmod(x, q.x);
    y = std::fmod(y, q.y);
    z = std::fmod(z, q.z);
    w = std::fmod(w, q.w);
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator += (Value s)
{
    x += s;
    y += s;
    z += s;
    w += s;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator -= (Value s)
{
    x -= s;
    y -= s;
    z -= s;
    w -= s;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator *= (Value s)
{
    x *= s;
    y *= s;
    z *= s;
    w *= s;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator /= (Value s)
{
    x /= s;
    y /= s;
    z /= s;
    w /= s;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator %= (Value s)
{
    x = std::fmod(x, s);
    y = std::fmod(y, s);
    z = std::fmod(z, s);
    w = std::fmod(w, s);
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator ++ ()
{
    ++x;
    ++y;
    ++z;
    ++w;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion & Quaternion::operator -- ()
{
    --x;
    --y;
    --z;
    --w;
    return *this;
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator ++ (int)
{
    Quaternion state(*this);
    ++x;
    ++y;
    ++z;
    ++w;
    return state;
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator -- (int)
{
    Quaternion state(*this);
    --x;
    --y;
    --z;
    --w;
    return state;
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator + (const Quaternion & q) const
{
    return Quaternion(x + q.x, y + q.y, z + q.z, w + q.w);
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator + (Value s) const
{
    return Quaternion(x + s, y + s, z + s, w + s);
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator - (const Quaternion & q) const
{
    return Quaternion(x - q.x, y - q.y, z - q.z, w - q.w);
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator - (Value s) const
{
    return Quaternion(x - s, y - s, z - s, w - s);
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator * (const Quaternion & q) const
{
    return Quaternion(x * q.x, y * q.y, z * q.z, w * q.w);
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator * (Value s) const
{
    return Quaternion(x * s, y * s, z * s, w * s);
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator / (const Quaternion & q) const
{
    return Quaternion(x / q.x, y / q.y, z / q.z, w / q.w);
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator / (Value s) const
{
    return Quaternion(x / s, y / s, z / s, w / s);
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator % (const Quaternion & q) const
{
    return Quaternion(std::fmod(x, q.x), std::fmod(y, q.y), std::fmod(z, q.z), std::fmod(w, q.w));
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator % (Value s) const
{
    return Quaternion(std::fmod(x, s), std::fmod(y, s), std::fmod(z, s), std::fmod(w, s));
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator + () const
{
    return Quaternion(std::fabs(x), std::fabs(y), std::fabs(z), std::fabs(w));
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::operator - () const
{
    return Quaternion(-x, -y, -z, -w);
}

// ------------------------------------------------------------------------------------------------
bool Quaternion::operator == (const Quaternion & q) const
{
    return EpsEq(x, q.x) && EpsEq(y, q.y) && EpsEq(z, q.z) && EpsEq(w, q.w);
}

// ------------------------------------------------------------------------------------------------
bool Quaternion::operator != (const Quaternion & q) const
{
    return !EpsEq(x, q.x) || !EpsEq(y, q.y) || !EpsEq(z, q.z) || !EpsEq(w, q.w);
}

// ------------------------------------------------------------------------------------------------
bool Quaternion::operator < (const Quaternion & q) const
{
    return EpsLt(x, q.x) && EpsLt(y, q.y) && EpsLt(z, q.z) && EpsLt(w, q.w);
}

// ------------------------------------------------------------------------------------------------
bool Quaternion::operator > (const Quaternion & q) const
{
    return EpsGt(x, q.x) && EpsGt(y, q.y) && EpsGt(z, q.z) && EpsGt(w, q.w);
}

// ------------------------------------------------------------------------------------------------
bool Quaternion::operator <= (const Quaternion & q) const
{
    return EpsLtEq(x, q.x) && EpsLtEq(y, q.y) && EpsLtEq(z, q.z) && EpsLtEq(w, q.w);
}

// ------------------------------------------------------------------------------------------------
bool Quaternion::operator >= (const Quaternion & q) const
{
    return EpsGtEq(x, q.x) && EpsGtEq(y, q.y) && EpsGtEq(z, q.z) && EpsGtEq(w, q.w);
}

// ------------------------------------------------------------------------------------------------
Int32 Quaternion::Cmp(const Quaternion & o) const
{
    if (*this == o)
    {
        return 0;
    }
    else if (*this > o)
    {
        return 1;
    }
    else
    {
        return -1;
    }
}

// ------------------------------------------------------------------------------------------------
CSStr Quaternion::ToString() const
{
    return ToStrF("%f,%f,%f,%f", x, y, z, w);
}

// ------------------------------------------------------------------------------------------------
void Quaternion::SetScalar(Value ns)
{
    x = ns;
    y = ns;
    z = ns;
    w = ns;
}

// ------------------------------------------------------------------------------------------------
void Quaternion::SetQuaternion(const Quaternion & q)
{
    x = q.x;
    y = q.y;
    z = q.z;
    w = q.w;
}

// ------------------------------------------------------------------------------------------------
void Quaternion::SetQuaternionEx(Value nx, Value ny, Value nz, Value nw)
{
    x = nx;
    y = ny;
    z = nz;
    w = nw;
}

// ------------------------------------------------------------------------------------------------
void Quaternion::SetVector3(const Vector3 & v)
{
    x = v.x;
    y = v.y;
    z = v.z;
    w = 0.0;
}

// ------------------------------------------------------------------------------------------------
void Quaternion::SetVector3Ex(Value nx, Value ny, Value nz)
{
    x = nx;
    y = ny;
    z = nz;
}

// ------------------------------------------------------------------------------------------------
void Quaternion::SetVector4(const Vector4 & v)
{
    x = v.x;
    y = v.y;
    z = v.z;
    w = v.w;
}

// ------------------------------------------------------------------------------------------------
void Quaternion::SetStr(CSStr values, SQChar delim)
{
    SetQuaternion(Quaternion::Get(values, delim));
}

// ------------------------------------------------------------------------------------------------
void Quaternion::Generate()
{
    x = GetRandomFloat32();
    y = GetRandomFloat32();
    z = GetRandomFloat32();
    w = GetRandomFloat32();
}

// ------------------------------------------------------------------------------------------------
void Quaternion::Generate(Value min, Value max)
{
    if (EpsLt(max, min))
    {
        STHROWF("max value is lower than min value");
    }

    x = GetRandomFloat32(min, max);
    y = GetRandomFloat32(min, max);
    z = GetRandomFloat32(min, max);
    y = GetRandomFloat32(min, max);
}

// ------------------------------------------------------------------------------------------------
void Quaternion::Generate(Value xmin, Value xmax, Value ymin, Value ymax, Value zmin, Value zmax, Value wmin, Value wmax)
{
    if (EpsLt(xmax, xmin) || EpsLt(ymax, ymin) || EpsLt(zmax, zmin) || EpsLt(wmax, wmin))
    {
        STHROWF("max value is lower than min value");
    }

    x = GetRandomFloat32(xmin, xmax);
    y = GetRandomFloat32(ymin, ymax);
    z = GetRandomFloat32(zmin, zmax);
    y = GetRandomFloat32(ymin, ymax);
}

// ------------------------------------------------------------------------------------------------
Quaternion Quaternion::Abs() const
{
    return Quaternion(std::fabs(x), std::fabs(y), std::fabs(z), std::fabs(w));
}

// ------------------------------------------------------------------------------------------------
const Quaternion & Quaternion::Get(CSStr str)
{
    return Quaternion::Get(str, Quaternion::Delim);
}

// ------------------------------------------------------------------------------------------------
const Quaternion & Quaternion::Get(CSStr str, SQChar delim)
{
    // The format specifications that will be used to scan the string
    static SQChar fs[] = _SC(" %f , %f , %f , %f ");
    static Quaternion quat;
    // Clear previous values, if any
    quat.Clear();
    // Is the specified string empty?
    if (!str || *str == '\0')
    {
        return quat; // Return the value as is!
    }
    // Assign the specified delimiter
    fs[4] = delim;
    fs[9] = delim;
    fs[14] = delim;
    // Attempt to extract the component values from the specified string
    std::sscanf(str, fs, &quat.x, &quat.y, &quat.z, &quat.w);
    // Return the resulted value
    return quat;
}

// ------------------------------------------------------------------------------------------------
const Quaternion & GetQuaternion()
{
    static Quaternion quat;
    quat.Clear();
    return quat;
}

// ------------------------------------------------------------------------------------------------
const Quaternion & GetQuaternion(Float32 sv)
{
    static Quaternion quat;
    quat.SetScalar(sv);
    return quat;
}

// ------------------------------------------------------------------------------------------------
const Quaternion & GetQuaternion(Float32 xv, Float32 yv, Float32 zv)
{
    static Quaternion quat;
    quat.SetVector3Ex(xv, yv, zv);
    return quat;
}

// ------------------------------------------------------------------------------------------------
const Quaternion & GetQuaternion(Float32 xv, Float32 yv, Float32 zv, Float32 wv)
{
    static Quaternion quat;
    quat.SetQuaternionEx(xv, yv, zv, wv);
    return quat;
}

// ------------------------------------------------------------------------------------------------
const Quaternion & GetQuaternion(const Quaternion & o)
{
    static Quaternion quat;
    quat.SetQuaternion(o);
    return quat;
}

// ================================================================================================
void Register_Quaternion(HSQUIRRELVM vm)
{
    typedef Quaternion::Value Val;

    RootTable(vm).Bind(_SC("Quaternion"), Class< Quaternion >(vm, _SC("Quaternion"))
        // Constructors
        .Ctor()
        .Ctor< Val >()
        .Ctor< Val, Val, Val >()
        .Ctor< Val, Val, Val, Val >()
        // Member Variables
        .Var(_SC("x"), &Quaternion::x)
        .Var(_SC("y"), &Quaternion::y)
        .Var(_SC("z"), &Quaternion::z)
        .Var(_SC("w"), &Quaternion::w)
        .Var(_SC("X"), &Quaternion::x)
        .Var(_SC("Y"), &Quaternion::y)
        .Var(_SC("Z"), &Quaternion::z)
        .Var(_SC("W"), &Quaternion::w)
        // Core Meta-methods
        .Func(_SC("_tostring"), &Quaternion::ToString)
        .SquirrelFunc(_SC("_typename"), &Quaternion::Typename)
        .Func(_SC("_cmp"), &Quaternion::Cmp)
        // Meta-methods
        .Func< Quaternion (Quaternion::*)(const Quaternion &) const >(_SC("_add"), &Quaternion::operator +)
        .Func< Quaternion (Quaternion::*)(const Quaternion &) const >(_SC("_sub"), &Quaternion::operator -)
        .Func< Quaternion (Quaternion::*)(const Quaternion &) const >(_SC("_mul"), &Quaternion::operator *)
        .Func< Quaternion (Quaternion::*)(const Quaternion &) const >(_SC("_div"), &Quaternion::operator /)
        .Func< Quaternion (Quaternion::*)(const Quaternion &) const >(_SC("_modulo"), &Quaternion::operator %)
        .Func< Quaternion (Quaternion::*)(void) const >(_SC("_unm"), &Quaternion::operator -)
        // Properties
        .Prop(_SC("Abs"), &Quaternion::Abs)
        // Member Methods
        .Func(_SC("SetScalar"), &Quaternion::SetScalar)
        .Func(_SC("SetQuaternion"), &Quaternion::SetQuaternion)
        .Func(_SC("SetQuaternionEx"), &Quaternion::SetQuaternionEx)
        .Func(_SC("SetVector3"), &Quaternion::SetVector3)
        .Func(_SC("SetVector3Ex"), &Quaternion::SetVector3Ex)
        .Func(_SC("SetVector4"), &Quaternion::SetVector4)
        .Func(_SC("SetStr"), &Quaternion::SetStr)
        .Func(_SC("Clear"), &Quaternion::Clear)
        // Member Overloads
        .Overload< void (Quaternion::*)(void) >(_SC("Generate"), &Quaternion::Generate)
        .Overload< void (Quaternion::*)(Val, Val) >(_SC("Generate"), &Quaternion::Generate)
        .Overload< void (Quaternion::*)(Val, Val, Val, Val, Val, Val, Val, Val) >(_SC("Generate"), &Quaternion::Generate)
        // Static Overloads
        .StaticOverload< const Quaternion & (*)(CSStr) >(_SC("FromStr"), &Quaternion::Get)
        .StaticOverload< const Quaternion & (*)(CSStr, SQChar) >(_SC("FromStr"), &Quaternion::Get)
        // Static Functions
        .StaticFunc(_SC("GetDelimiter"), &SqGetDelimiter< Quaternion >)
        .StaticFunc(_SC("SetDelimiter"), &SqSetDelimiter< Quaternion >)
        // Operator Exposure
        .Func< Quaternion & (Quaternion::*)(const Quaternion &) >(_SC("opAddAssign"), &Quaternion::operator +=)
        .Func< Quaternion & (Quaternion::*)(const Quaternion &) >(_SC("opSubAssign"), &Quaternion::operator -=)
        .Func< Quaternion & (Quaternion::*)(const Quaternion &) >(_SC("opMulAssign"), &Quaternion::operator *=)
        .Func< Quaternion & (Quaternion::*)(const Quaternion &) >(_SC("opDivAssign"), &Quaternion::operator /=)
        .Func< Quaternion & (Quaternion::*)(const Quaternion &) >(_SC("opModAssign"), &Quaternion::operator %=)
        .Func< Quaternion & (Quaternion::*)(Quaternion::Value) >(_SC("opAddAssignS"), &Quaternion::operator +=)
        .Func< Quaternion & (Quaternion::*)(Quaternion::Value) >(_SC("opSubAssignS"), &Quaternion::operator -=)
        .Func< Quaternion & (Quaternion::*)(Quaternion::Value) >(_SC("opMulAssignS"), &Quaternion::operator *=)
        .Func< Quaternion & (Quaternion::*)(Quaternion::Value) >(_SC("opDivAssignS"), &Quaternion::operator /=)
        .Func< Quaternion & (Quaternion::*)(Quaternion::Value) >(_SC("opModAssignS"), &Quaternion::operator %=)
        .Func< Quaternion & (Quaternion::*)(void) >(_SC("opPreInc"), &Quaternion::operator ++)
        .Func< Quaternion & (Quaternion::*)(void) >(_SC("opPreDec"), &Quaternion::operator --)
        .Func< Quaternion (Quaternion::*)(int) >(_SC("opPostInc"), &Quaternion::operator ++)
        .Func< Quaternion (Quaternion::*)(int) >(_SC("opPostDec"), &Quaternion::operator --)
        .Func< Quaternion (Quaternion::*)(const Quaternion &) const >(_SC("opAdd"), &Quaternion::operator +)
        .Func< Quaternion (Quaternion::*)(const Quaternion &) const >(_SC("opSub"), &Quaternion::operator -)
        .Func< Quaternion (Quaternion::*)(const Quaternion &) const >(_SC("opMul"), &Quaternion::operator *)
        .Func< Quaternion (Quaternion::*)(const Quaternion &) const >(_SC("opDiv"), &Quaternion::operator /)
        .Func< Quaternion (Quaternion::*)(const Quaternion &) const >(_SC("opMod"), &Quaternion::operator %)
        .Func< Quaternion (Quaternion::*)(Quaternion::Value) const >(_SC("opAddS"), &Quaternion::operator +)
        .Func< Quaternion (Quaternion::*)(Quaternion::Value) const >(_SC("opSubS"), &Quaternion::operator -)
        .Func< Quaternion (Quaternion::*)(Quaternion::Value) const >(_SC("opMulS"), &Quaternion::operator *)
        .Func< Quaternion (Quaternion::*)(Quaternion::Value) const >(_SC("opDivS"), &Quaternion::operator /)
        .Func< Quaternion (Quaternion::*)(Quaternion::Value) const >(_SC("opModS"), &Quaternion::operator %)
        .Func< Quaternion (Quaternion::*)(void) const >(_SC("opUnPlus"), &Quaternion::operator +)
        .Func< Quaternion (Quaternion::*)(void) const >(_SC("opUnMinus"), &Quaternion::operator -)
        .Func< bool (Quaternion::*)(const Quaternion &) const >(_SC("opEqual"), &Quaternion::operator ==)
        .Func< bool (Quaternion::*)(const Quaternion &) const >(_SC("opNotEqual"), &Quaternion::operator !=)
        .Func< bool (Quaternion::*)(const Quaternion &) const >(_SC("opLessThan"), &Quaternion::operator <)
        .Func< bool (Quaternion::*)(const Quaternion &) const >(_SC("opGreaterThan"), &Quaternion::operator >)
        .Func< bool (Quaternion::*)(const Quaternion &) const >(_SC("opLessEqual"), &Quaternion::operator <=)
        .Func< bool (Quaternion::*)(const Quaternion &) const >(_SC("opGreaterEqual"), &Quaternion::operator >=)
    );
}

} // Namespace:: SqMod