TQuaternion.h

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#pragma once
 
#include "Math/General/TArithmeticArrayBase.h"
#include "Math/math_fwd.h"
#include "Utility/utility.h"
 
#include <array>
#include <cmath>
 
namespace ph::math
{
 
template<typename T>
class TQuaternion final : public TArithmeticArrayBase<TQuaternion<T>, T, 4>
{
private:
    using Base = TArithmeticArrayBase<TQuaternion<T>, T, 4>;
 
protected:
    using Base::m;
 
public:
    static TQuaternion makeNoRotation();
 
public:
    PH_DEFINE_INLINE_RULE_OF_5_MEMBERS(TQuaternion);
 
    using Base::Base;
 
    TQuaternion(T vx, T vy, T vz, T vw);
 
    template<typename U>
    explicit TQuaternion(const TQuaternion<U>& other);
 
    template<typename U>
    explicit TQuaternion(const std::array<U, 4>& xyzwValues);
 
    TQuaternion(const TVector3<T>& normalizedAxis, T radians);
    explicit TQuaternion(const TMatrix4<T>& rotationMatrix);
 
    T& x();
    T& y();
    T& z();
    T& w();
    const T& x() const;
    const T& y() const;
    const T& z() const;
    const T& w() const;
 
    TQuaternion mul(const TVector3<T>& xyz) const;
 
    TQuaternion normalize() const;
    TQuaternion& normalizeLocal();
    T length() const;
 
    TQuaternion conjugate() const;
    void conjugate(TQuaternion* out_result) const;
    TQuaternion& conjugateLocal();
 
    TQuaternion mul(const TQuaternion& rhs) const;
    TQuaternion& mulLocal(const TQuaternion& rhs);
    TQuaternion mul(T rhs) const;
 
    TQuaternion sub(const TQuaternion& rhs) const;
    TQuaternion add(const TQuaternion& rhs) const;
    T dot(const TQuaternion& rhs) const;
 
    void setRot(const TVector3<T>& normalizedAxis, T radians);
    void toRotationMatrix(TMatrix4<T>* out_result) const;
 
    using Base::set;
    using Base::begin;
    using Base::end;
 
    using Base::isEqual;
 
    using Base::toString;
    using Base::toVector;
    using Base::toArray;
    using Base::toSpan;
    using Base::toView;
 
    using Base::operator [];
    using Base::operator ==;
    using Base::operator !=;
};
 
}// end namespace ph::math
 
#include "Math/TQuaternion.ipp"