$#include "Math/Quaternion.h"

class Quaternion
{
    Quaternion();
    Quaternion(const Quaternion& quat);
    Quaternion(float w, float x, float y, float z);
    Quaternion(float angle, const Vector3& axis);
    Quaternion(float angle);
    Quaternion(float x, float y, float z);
    Quaternion(const Vector3& start, const Vector3& end);
    Quaternion(const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis);
    Quaternion(const Matrix3& matrix);
    ~Quaternion();

    bool operator ==(const Quaternion& rhs) const;

    Quaternion operator * (float rhs) const;
    Quaternion operator - () const;
    bool operator ==(const Quaternion& rhs) const;

    Quaternion operator * (float rhs) const;
    Quaternion operator - () const;
    Quaternion operator + (const Quaternion& rhs) const;
    Quaternion operator - (const Quaternion& rhs) const;
    Quaternion operator * (const Quaternion& rhs) const;
    Vector3 operator * (const Vector3& rhs) const;

    void FromAngleAxis(float angle, const Vector3& axis);
    void FromEulerAngles(float x, float y, float z);
    void FromRotationTo(const Vector3& start, const Vector3& end);
    void FromAxes(const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis);
    void FromRotationMatrix(const Matrix3& matrix);
    bool FromLookRotation(const Vector3& direction, const Vector3& up);

    void Normalize();

    Quaternion Normalized() const;
    Quaternion Inverse() const;
    float LengthSquared() const;
    float DotProduct(const Quaternion& rhs) const;
    bool Equals(const Quaternion& rhs) const;
    bool IsNaN() const;

    Quaternion Conjugate() const;
    Vector3 EulerAngles() const;
    float YawAngle() const;
    float PitchAngle() const;
    float RollAngle() const;
    Vector3 Axis() const;
    float Angle() const;
    Matrix3 RotationMatrix() const;
    Quaternion Slerp(const Quaternion& rhs, float t) const;
    Quaternion Nlerp(const Quaternion& rhs, float t, bool shortestPath) const;
    String ToString() const;

    float w_ @ w;
    float x_ @ x;
    float y_ @ y;
    float z_ @ z;

    static const Quaternion IDENTITY;
};