Quat.h

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/*
* True Reality Open Source Game and Simulation Engine
* Copyright © 2021 Acid Rain Studios LLC
*
* This library is free software; you can redistribute it and/or modify it under
* the terms of the GNU Lesser General Public License as published by the Free
* Software Foundation; either version 3.0 of the License, or (at your option)
* any later version.
*
* This library is distributed in the hope that it will be useful, but WITHOUT
* ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
* FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
* details.
*
* You should have received a copy of the GNU Lesser General Public License
* along with this library; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
* @author Maxim Serebrennik
*/
#pragma once
#include "Export.h"

#include <trBase/Vec4f.h>
#include <trBase/Vec4d.h>
#include <trBase/Vec3f.h>
#include <trBase/Vec3d.h>

#include <osg/Quat>

#include <iostream>
#include <string>

namespace trBase
{
    class Matrixd;
    class Matrixf;

    class TR_BASE_EXPORT Quat
    {
    public:

        using value_type = double;

        Quat();

        Quat(const Quat& q);

        Quat(const osg::Quat& q);

        Quat(value_type x, value_type y, value_type z, value_type w);

        Quat(const Vec4f& v);

        Quat(const Vec4d& v);

        Quat(value_type angle, const Vec3f& axis);

        Quat(value_type angle, const Vec3d& axis);

        Quat(value_type angle1, const Vec3f& axis1, value_type angle2, const Vec3f& axis2, value_type angle3, const Vec3f& axis3);

        Quat(value_type angle1, const Vec3d& axis1, value_type angle2, const Vec3d& axis2, value_type angle3, const Vec3d& axis3);

        osg::Quat& GetOSGQuat();

        const osg::Quat& GetOSGQuat() const;

        Vec4d AsVec4() const;

        Vec3d AsVec3() const;

        void Set(const Quat& q);

        void Set(const osg::Quat& q);

        void Set(value_type x, value_type y, value_type z, value_type w);

        void Set(const Vec4f& v);

        void Set(const Vec4d& v);

        void Set(const Matrixf& matrix);

        void Set(const Matrixd& matrix);

        void Get(Matrixf& matrix) const;

        void Get(Matrixd& matrix) const;

        void Set(const osg::Matrixf& matrix);

        void Set(const osg::Matrixd& matrix);

        void Get(osg::Matrixf& matrix) const;

        void Get(osg::Matrixd& matrix) const;

        bool IsZeroRotation() const;

        value_type Length() const;

        value_type Length2() const;

        trBase::Quat Conj() const;

        const trBase::Quat Inverse() const;

        void MakeRotate(value_type  angle, value_type  x, value_type  y, value_type  z);

        void MakeRotate(value_type  angle, const Vec3f& vec);

        void MakeRotate(value_type  angle, const Vec3d& vec);

        void MakeRotate(value_type  angle1, const Vec3f& axis1, value_type  angle2, const Vec3f& axis2, value_type  angle3, const Vec3f& axis3);

        void MakeRotate(value_type  angle1, const Vec3d& axis1, value_type  angle2, const Vec3d& axis2, value_type  angle3, const Vec3d& axis3);

        void MakeRotate(const Vec3f& vec1, const Vec3f& vec2);

        void MakeRotate(const Vec3d& vec1, const Vec3d& vec2);

        void GetRotate(value_type& angle, value_type& x, value_type& y, value_type& z) const;

        void GetRotate(value_type& angle, Vec3f& vec) const;

        void GetRotate(value_type& angle, Vec3d& vec) const;

        void Clear();

        void Slerp(value_type  t, const Quat& from, const Quat& to);

        value_type& X();

        value_type& Y();

        value_type& Z();

        value_type& W();

        value_type X() const;

        value_type Y() const;

        value_type Z() const;

        value_type W() const;

        value_type & operator [] (int i);

        value_type operator [] (int i) const;

        Quat& operator = (const Quat& v);

        bool operator == (const Quat& v) const;

        bool operator != (const Quat& v) const;

        bool operator <  (const Quat& v) const;

        bool operator >  (const Quat& v) const;

        const Quat operator * (value_type rhs) const;

        Vec3f operator* (const Vec3f& v) const;

        Vec3d operator* (const Vec3d& v) const;

        Quat& operator *= (value_type rhs);

        const Quat operator*(const Quat& rhs) const;

        Quat& operator*=(const Quat& rhs);

        Quat operator / (value_type rhs) const;

        Quat& operator /= (value_type rhs);

        const Quat operator/(const Quat& denom) const;

        Quat& operator/=(const Quat& denom);

        const Quat operator + (const Quat& rhs) const;

        Quat& operator += (const Quat& rhs);

        const Quat operator - (const Quat& rhs) const;

        Quat& operator -= (const Quat& rhs);

        const Quat operator - () const;

        operator osg::Quat () const;

        operator osg::Quat& ();

        operator const osg::Quat& () const;

        operator osg::Quat* ();

        std::string ToString(int precision = -1);

        protected:

            osg::Quat mQuat;
    };

    TR_BASE_EXPORT std::ostream& operator << (std::ostream& ios, const Quat& q);
}