urho3d/Extras/LuaScript/Pkgs/Math/Quaternion.pkg

$#include "Quaternion.h"

/// Rotation represented as a four-dimensional normalized vector.
class Quaternion
{
public:
    /// Construct identity quaternion.
    Quaternion();
    
    /// Copy-construct from another quaternion.
    Quaternion(const Quaternion& quat);
    
	/// Construct from values.
    Quaternion(float w, float x, float y, float z);
    
    /// Construct from an angle (in degrees) and axis.
    Quaternion(float angle, const Vector3& axis);
    
    /// Construct from Euler angles (in degrees.)
    Quaternion(float x, float y, float z);
    
    /// Construct from the rotation difference between two vectors.
    Quaternion(const Vector3& start, const Vector3& end);
    
    /// Construct from orthonormal axes.
    Quaternion(const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis);

    /// Construct from a rotation matrix.
    Quaternion(const Matrix3& matrix);
    
    /// Test for equality with another quaternion without epsilon.
    bool operator == (const Quaternion& rhs) const;
	
	/// Multiply with a scalar.
    Quaternion operator * (float rhs) const;
    
	/// Return negation.
    Quaternion operator - () const;
    
	/// Add a quaternion.
    Quaternion operator + (const Quaternion& rhs) const;
	
    /// Subtract a quaternion.
    Quaternion operator - (const Quaternion& rhs) const;
    
    /// Multiply a quaternion.
    Quaternion operator * (const Quaternion& rhs) const;
    
    /// Multiply a Vector3.
    Vector3 operator * (const Vector3& rhs) const;
    
	
    /// Define from an angle (in degrees) and axis.
    void FromAngleAxis(float angle, const Vector3& axis);
	
    /// Define from Euler angles (in degrees.)
    void FromEulerAngles(float x, float y, float z);
    
	/// Define from the rotation difference between two vectors.
    void FromRotationTo(const Vector3& start, const Vector3& end);
    
	/// Define from orthonormal axes.
    void FromAxes(const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis);
    
	/// Define from a rotation matrix.
    void FromRotationMatrix(const Matrix3& matrix);
    
    /// Normalize to unit length and return the previous length.
    float Normalize();
    
    /// Return normalized to unit length.
    Quaternion Normalized() const;
    
    /// Return inverse.
    Quaternion Inverse() const;
    
    /// Return squared length.
    float LengthSquared() const;
	
    /// Calculate dot product.
    float DotProduct(const Quaternion& rhs) const;
	
    /// Test for equality with another quaternion with epsilon.
    bool Equals(const Quaternion& rhs) const;
	
    /// Return conjugate.
    Quaternion Conjugate() const;
    
    /// Return Euler angles in degrees.
    Vector3 EulerAngles() const;
	
    /// Return yaw angle in degrees.
    float YawAngle() const;
    
	/// Return pitch angle in degrees.
    float PitchAngle() const;
    
	/// Return roll angle in degrees.
    float RollAngle() const;
    
	/// Return the rotation matrix that corresponds to this quaternion.
    Matrix3 RotationMatrix() const;
    
	/// Spherical interpolation with another quaternion.
    Quaternion Slerp(Quaternion rhs, float t) const;
    
	/// W coordinate.
    float w_ @ w;
    /// X coordinate.
    float x_ @ x;
    /// Y coordinate.
    float y_ @ y;
    /// Z coordinate.
    float z_ @ z;
    
    /// Identity quaternion.
    static const Quaternion IDENTITY;
};