86 lines
1.7 KiB
C++

#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