quaternion.hpp

#ifndef TOPAZ_CORE_QUATERNION_HPP
#define TOPAZ_CORE_QUATERNION_HPP
#include "tz/core/vector.hpp"
#include "tz/core/matrix.hpp"
 
namespace tz
{
    struct quat : public tz::v4f
    {
        static quat iden()
        {
            return {tz::v4f{0.0f, 0.0f, 0.0f, 1.0f}};
        }
        quat() = default;
        quat(tz::v4f vec);
        static quat from_axis_angle(tz::v3f axis, float angle);
        static quat from_euler_angles(tz::v3f euler_angles);
        tz::m4f matrix() const;
        quat inverse() const;
        quat combine(const quat& rhs) const;
        tz::v3f rotate(tz::v3f pos) const;
        quat normalise() const;
        quat slerp(const quat& rhs, float factor) const;
 
        quat& operator*=(const quat& rhs);
        quat operator*(const quat& rhs) const{auto cpy = *this; return cpy *= rhs;}
    };
}
 
#endif // TOPAZ_CORE_QUATERNION_HPP