Quaternion.h

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#pragma once
 
#include "Vector.h"
 
namespace nc
{
struct Quaternion
{
    float x, y, z, w;
 
    constexpr explicit Quaternion()
        : x{0.0f}, y{0.0f}, z{0.0f}, w{1.0f}
    {
    }
 
    explicit Quaternion(float X, float Y, float Z, float W);
 
    auto ToEulerAngles() const noexcept -> Vector3;
    void ToAxisAngle(Vector3* axisOut, float* angleOut) const noexcept;
 
    static constexpr auto Identity() -> Quaternion { return Quaternion{}; }
    static auto FromEulerAngles(const Vector3& angles) -> Quaternion;
    static auto FromEulerAngles(float x, float y, float z) -> Quaternion;
    static auto FromAxisAngle(const Vector3& axis, float radians) -> Quaternion; // axis cannot be zero
};
 
auto Normalize(const Quaternion& quat) -> Quaternion;
 
auto Multiply(const Quaternion& lhs, const Quaternion& rhs) -> Quaternion;
 
auto Difference(const Quaternion& lhs, const Quaternion& rhs) -> Quaternion;
 
auto Slerp(const Quaternion& lhs, const Quaternion& rhs, float factor) -> Quaternion;
 
auto Scale(const Quaternion& quat, float factor) -> Quaternion;
 
inline auto operator==(const Quaternion& lhs, const Quaternion& rhs) -> bool
{
    return FloatEqual(lhs.x, rhs.x) &&
           FloatEqual(lhs.y, rhs.y) &&
           FloatEqual(lhs.z, rhs.z) &&
           FloatEqual(lhs.w, rhs.w);
}
 
inline auto operator!=(const Quaternion& lhs, const Quaternion& rhs) -> bool
{
    return !(lhs == rhs);
}
} // namespace nc