ht_quaternion.h

#pragma once

//Pre-Include Defines
#define _USE_MATH_DEFINES

#include <ht_platform.h>
#include <ht_vector3.h>
#include <ht_vector4.h>
#include <ht_matrix3.h>

#include <iostream>
#include <cmath>

namespace Hatchit
{
    namespace Math
    {
        class HT_API Quaternion
        {

        public:
            //Constructors
            Quaternion();
            Quaternion(float* m_vector);


            Quaternion(float w, float x, float y, float z);
            Quaternion(Vector3 v);
            Quaternion(Vector4 v);

            virtual ~Quaternion();

            static Quaternion getQuaternionIdentity();

            Quaternion getInverse();

            Vector4 getAxisAngle();

            Matrix4 getRotationMatrix();


            Quaternion operator* (Quaternion other);

        public:
            union
            {
                __m128 m_vector;
                struct
                {
                    float w, x, y, z;
                };
                float data[4];
            };
            void normalize();
        };

        HT_API std::ostream& operator<< (std::ostream& output, Quaternion& h);
        HT_API std::istream& operator>> (std::istream& input, Quaternion& h);
    }
}