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Alex Lardner
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#ifndef RAYLIB_CPP_INCLUDE_QUATERNION_HPP_
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#define RAYLIB_CPP_INCLUDE_QUATERNION_HPP_
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#ifndef RAYLIB_CPP_NO_MATH
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#include <cmath>
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#include <utility>
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#endif
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#include <string>
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#include "./raylib-cpp-utils.hpp"
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#include "./raylib.hpp"
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#include "./raymath.hpp"
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namespace raylib {
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class Vector4 : public ::Vector4 {};
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/**
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* Quaternion type
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*/
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class Quaternion : public ::Quaternion {
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public:
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constexpr Quaternion(const ::Quaternion& quat) : ::Quaternion{quat.x, quat.y, quat.z, quat.w} {}
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explicit constexpr Quaternion(const raylib::Vector4 vec4) : ::Quaternion{vec4.x, vec4.y, vec4.z, vec4.w} {}
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explicit constexpr Quaternion(const float x = 0, const float y = 0, const float z = 0, const float w = 1) : ::Quaternion{x, y, z, w} {}
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GETTERSETTER(float, X, x)
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GETTERSETTER(float, Y, y)
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GETTERSETTER(float, Z, z)
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GETTERSETTER(float, W, w)
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Quaternion& operator=(const ::Quaternion& quaternion) {
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set(quaternion);
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return *this;
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}
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/*
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* An exact value by value equality comparison.
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* Due to floating point inaccuracies consider using Equals instead.
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*/
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constexpr bool operator==(const ::Quaternion& other) const {
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return x == other.x && y == other.y && z == other.z && w == other.w;
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}
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/*
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* An exact value by value inequality comparison.
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* Due to floating point inaccuracies consider using Equals instead.
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*/
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constexpr bool operator!=(const ::Quaternion& other) const { return !(*this == other); }
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RLCPP_NODISCARD std::string ToString() const { return ::TextFormat("Quaternion(%f, %f, %f, %f)", x, y, z, w); }
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operator std::string() const { return ToString(); }
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#ifndef RAYLIB_CPP_NO_MATH
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/**
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* Add two quaternions
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*/
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RLCPP_NODISCARD Quaternion Add(const ::Quaternion& quaternion) const { return ::QuaternionAdd(*this, quaternion); }
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/**
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* Add two quaternions
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*/
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Quaternion operator+(const ::Quaternion& quaternion) const { return ::QuaternionAdd(*this, quaternion); }
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Quaternion& operator+=(const ::Quaternion& quaternion) {
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set(::QuaternionAdd(*this, quaternion));
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return *this;
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}
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/**
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* Add quaternion and float value
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*/
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RLCPP_NODISCARD Quaternion Add(const float value) const {
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return ::QuaternionAddValue(*this, value);
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}
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/**
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* Add quaternion and float value
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*/
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Quaternion operator+(const float value) const {
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return ::QuaternionAddValue(*this, value);
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}
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/**
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* Add quaternion and float value
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*/
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Quaternion& operator+=(const float value) {
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set(::QuaternionAddValue(*this, value));
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return *this;
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}
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/**
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* Add quaternion and float value
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*/
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friend Quaternion operator+(const float lhs, const Quaternion& rhs) { return rhs + lhs; }
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/**
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* Subtract two quaternions.
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*/
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RLCPP_NODISCARD Quaternion Subtract(const ::Quaternion& quaternion) const { return ::QuaternionSubtract(*this, quaternion); }
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/**
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* Subtract two quaternions.
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*/
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Quaternion operator-(const ::Quaternion& quaternion) const { return ::QuaternionSubtract(*this, quaternion); }
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Quaternion& operator-=(const ::Quaternion& quaternion) {
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set(::QuaternionSubtract(*this, quaternion));
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return *this;
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}
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/**
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* Subtract quaternion by float value
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*/
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RLCPP_NODISCARD Quaternion Subtract(const float value) const {
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return ::QuaternionSubtractValue(*this, value);
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}
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/**
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* Get identity quaternion
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*/
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static RLCPP_NODISCARD Quaternion Identity() {
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return ::QuaternionIdentity();
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}
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RLCPP_NODISCARD float Length() const { return ::QuaternionLength(*this); }
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RLCPP_NODISCARD Quaternion Normalize() const { return ::QuaternionNormalize(*this); }
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RLCPP_NODISCARD Quaternion Invert() const { return ::QuaternionInvert(*this); }
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/**
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* Multiply quaternion by quaternion
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*/
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RLCPP_NODISCARD Quaternion Multiply(const ::Quaternion& other) const { return ::QuaternionMultiply(*this, other); }
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/**
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* Multiply quaternion by quaternion
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*/
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Quaternion operator*(const ::Quaternion& other) const { return ::QuaternionMultiply(*this, other); }
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/**
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* Multiply quaternion by quaternion
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*/
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Quaternion& operator*=(const ::Quaternion& other) {
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set(::QuaternionMultiply(*this, other));
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return *this;
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}
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/**
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* Scale quaternion components by value (multiply)
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*/
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RLCPP_NODISCARD Quaternion Scale(const float scale) const { return ::QuaternionScale(*this, scale); }
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/**
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* Divide quaternion by quaternion
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*/
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RLCPP_NODISCARD Quaternion Divide(const ::Quaternion& quaternion) const { return ::QuaternionDivide(*this, quaternion); }
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/**
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* Divide quaternion by quaternion
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*/
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Quaternion operator/(const ::Quaternion& quaternion) const { return ::QuaternionDivide(*this, quaternion); }
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/**
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* Divide quaternion by quaternion
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*/
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Quaternion& operator/=(const ::Quaternion& quaternion) {
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set(::QuaternionDivide(*this, quaternion));
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return *this;
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}
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/**
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* Divide quaternion components by value
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*/
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RLCPP_NODISCARD constexpr Quaternion Divide(const float div) const { return ::Quaternion{x / div, y / div, z / div, w / div}; }
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RLCPP_NODISCARD Quaternion Lerp(const ::Quaternion& v2, const float amount) const
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{
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return ::QuaternionLerp(*this, v2, amount);
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}
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/**
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* Calculate normalized linear interpolation between two quaternions
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*/
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RLCPP_NODISCARD Quaternion Nlerp(const ::Quaternion& v2, const float amount) const {
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return ::QuaternionNlerp(*this, v2, amount);
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}
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/**
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* Calculates spherical linear interpolation between two quaternions
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*/
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RLCPP_NODISCARD Quaternion Slerp(const ::Quaternion& v2, const float amount) const {
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return ::QuaternionSlerp(*this, v2, amount);
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}
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/**
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* Calculate quaternion cubic spline interpolation using Cubic Hermite Spline
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*/
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RLCPP_NODISCARD Quaternion CubicHermiteSpline(
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const ::Quaternion& outTangent1,
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const ::Quaternion& q2,
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const ::Quaternion& inTangent2,
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const float t
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) const {
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return ::QuaternionCubicHermiteSpline(*this, outTangent1, q2, inTangent2, t);
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}
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/**
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* Calculate quaternion based on the rotation from one vector to another
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*/
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static RLCPP_NODISCARD Quaternion FromVector3ToVector3(const ::Vector3& from, const ::Vector3& to) {
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return ::QuaternionFromVector3ToVector3(from, to);
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}
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/**
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* Get a quaternion for a given rotation matrix
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*/
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static RLCPP_NODISCARD Quaternion FromMatrix(const ::Matrix& mat) {
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return ::QuaternionFromMatrix(mat);
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}
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/**
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* Get a matrix for this quaternion
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*/
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RLCPP_NODISCARD ::Matrix ToMatrix() const {
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return ::QuaternionToMatrix(*this);
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}
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/**
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* Get rotation quaternion for an angle and axis
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* NOTE: Angle must be provided in radians
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*/
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static RLCPP_NODISCARD Quaternion FromAxisAngle(const ::Vector3& axis, const float angle) {
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return ::QuaternionFromAxisAngle(axis, angle);
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}
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/**
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* Get the rotation angle and axis for this quaternion
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*/
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void ToAxisAngle(::Vector3* outAxis, float* outAngle) const {
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::QuaternionToAxisAngle(*this, outAxis, outAngle);
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}
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/**
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* Get the quaternion equivalent to Euler angles
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* NOTE: Rotation order is ZYX
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*/
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static RLCPP_NODISCARD Quaternion FromEuler(const float pitch, const float yaw, const float roll) {
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return ::QuaternionFromEuler(pitch, yaw, roll);
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}
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/**
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* Get the Euler angles equivalent to quaternion
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* NOTE: Angles are returned in radians
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*/
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RLCPP_NODISCARD ::Vector3 ToEuler() const {
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return ::QuaternionToEuler(*this);
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}
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/**
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* Transform quaternion given transformation matrix
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*/
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RLCPP_NODISCARD Quaternion Transform(const ::Matrix& mat) const {
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return ::QuaternionTransform(*this, mat);
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}
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/*
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* Check whether two given quaternions are almost equal
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*/
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RLCPP_NODISCARD bool Equals(const ::Quaternion& other) const {
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return static_cast<bool>(::QuaternionEquals(*this, other));
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}
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#endif
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protected:
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void set(const ::Quaternion& quat) {
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x = quat.x;
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y = quat.y;
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z = quat.z;
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w = quat.w;
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}
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};
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} // namespace raylib
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using RQuaternion = raylib::Quaternion;
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#endif // RAYLIB_CPP_INCLUDE_QUATERNION_HPP_
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