Quaternion.h

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/*
 * MIT License
 *
 * Copyright (c) 2024 Roberto Charreton
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * In addition, any project or software that uses this library or class must include
 * the following acknowledgment in the credits:
 *
 * "This project uses software developed by Roberto Charreton and Attribute Overload."
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
*/
#pragma once
 
#include "Utilities/EngineMath.h"
#include "Vector3.h"
namespace EU {
  class Quaternion {
  public:
    float w; 
    float x; 
    float y; 
    float z; 
    Quaternion() : w(1), x(0), y(0), z(0) {}
 
    Quaternion(float w, float x, float y, float z) : w(w), x(x), y(y), z(z) {}
 
    Quaternion operator+(const Quaternion& other) const {
      return Quaternion(w + other.w, x + other.x, y + other.y, z + other.z);
    }
 
    Quaternion operator-(const Quaternion& other) const {
      return Quaternion(w - other.w, x - other.x, y - other.y, z - other.z);
    }
 
    Quaternion operator*(float scalar) const {
      return Quaternion(w * scalar, x * scalar, y * scalar, z * scalar);
    }
 
    Quaternion operator*(const Quaternion& other) const {
      return Quaternion(
        w * other.w - x * other.x - y * other.y - z * other.z,
        w * other.x + x * other.w + y * other.z - z * other.y,
        w * other.y - x * other.z + y * other.w + z * other.x,
        w * other.z + x * other.y - y * other.x + z * other.w
      );
    }
 
    bool operator==(const Quaternion& other) const {
      return (w == other.w && x == other.x && y == other.y && z == other.z);
    }
 
    bool operator!=(const Quaternion& other) const {
      return !(*this == other);
    }
 
    float magnitude() const {
      return EU::sqrt(w * w + x * x + y * y + z * z);
    }
 
    Quaternion normalize() const {
      float mag = magnitude();
      if (mag == 0) {
        return Quaternion(1, 0, 0, 0);
      }
      return Quaternion(w / mag, x / mag, y / mag, z / mag);
    }
 
    Quaternion conjugate() const {
      return Quaternion(w, -x, -y, -z);
    }
 
    Quaternion inverse() const {
      float magSquared = w * w + x * x + y * y + z * z;
      if (magSquared == 0) {
        // Handling division by zero
        return Quaternion(1, 0, 0, 0);
      }
      return conjugate() * (1.0f / magSquared);
    }
 
    Vector3 rotate(const Vector3& v) const {
      Quaternion qv(0, v.x, v.y, v.z);
      Quaternion result = (*this) * qv * this->inverse();
      return Vector3(result.x, result.y, result.z);
    }
 
    static Quaternion fromAxisAngle(const Vector3& axis, float angle) {
      float halfAngle = angle * 0.5f;
      float sinHalfAngle = EU::sin(halfAngle);
      return Quaternion(
        EU::cos(halfAngle),
        axis.x * sinHalfAngle,
        axis.y * sinHalfAngle,
        axis.z * sinHalfAngle
      );
    }
 
    const float* data() const {
      return &w;
    }
 
    /*Matrix4x4 toMatrix() const {
      Matrix4x4 result;
      result[0][0] = 1 - 2 * (y * y + z * z);
      result[0][1] = 2 * (x * y - z * w);
      result[0][2] = 2 * (x * z + y * w);
      result[1][0] = 2 * (x * y + z * w);
      result[1][1] = 1 - 2 * (x * x + z * z);
      result[1][2] = 2 * (y * z - x * w);
      result[2][0] = 2 * (x * z - y * w);
      result[2][1] = 2 * (y * z + x * w);
      result[2][2] = 1 - 2 * (x * x + y * y);
      result[3][3] = 1;
      return result;
    }*/
  };
}