feat: Introducing TQuaternion.

Engine/Source/Runtime/Core/Math/Quaternion.hpp

@@ -0,0 +1,85 @@
+#pragma once
+
+#include "Core/Math/Boilerplate.h"
+
+#include "Core/Math/MathFwd.h"
+#include "Core/Math/SIMD/PhanesSIMDTypes.h"
+#include "Core/Math/SIMD/Storage.h"
+#include "Core/Math/Vector3.hpp"
+#include "Core/Math/Vector4.hpp"
+
+#ifndef QUATERNION_H
+#	define QUATERNION_H
+
+namespace Phanes::Core::Math
+{
+	// Quaternion
+	template <RealType T, bool S>
+	struct TQuaternion
+	{
+		using Real = T;
+
+	public:
+		union
+		{
+			struct
+			{
+				float x;
+				float y;
+				float z;
+				float w;
+			};
+			union
+			{
+				typename SIMD::Storage<4, Real, SIMD::use_simd<Real, 4, S>::value>::type comp;
+				typename SIMD::Storage<4, Real, SIMD::use_simd<Real, 4, S>::value>::type data;
+			};
+		};
+
+	public:
+		/// Default constructor
+		TQuaternion() = default;
+
+		/**
+		 * Construct quaternion from vector4.
+		 * v.w is the scalar part of the quaternion (q.w).
+		 */
+		explicit TQuaternion(const TVector4<T, S>& v);
+
+		/**
+		 * Construct quaternion from vector (x,y,z) and scalar part (w).
+		 *
+		 * @param x X
+		 * @param y Y
+		 * @param z Z
+		 * @param w W
+		 */
+		TQuaternion(Real x, Real y, Real z, Real w);
+
+		/**
+		 * Construct vector from vector part and scalar part.
+		 */
+		TQuaternion(const TVector3<Real, S>& v, Real w);
+
+		/**
+		 * Construct quaternion from array of length >= four.
+		 *
+		 * @note If used with SIMD the array will is assumed to be aligned.
+		 */
+		explicit TQuaternion(const Real* comp);
+
+		/**
+		 * Construct from euler angles (yaw, pitch, roll)
+		 */
+		explicit TQuaternion(const TVector3<Real, S>& euler_angels);
+
+		/**
+		 * Construct from Transformation
+		 */
+
+		explicit TQuaternion(const TTransform<Real>& t);
+		explicit TQuaternion(const TMatrix4<Real, S>& t);
+	};
+} // namespace Phanes::Core::Math
+
+#endif // QUATERNION_H