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dCommon/NiQuaternion.h

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+#pragma once
+
+// Custom Classes
+#include "NiPoint3.h"
+
+/*!
+  \file NiQuaternion.hpp
+  \brief Defines a quaternion in space in WXYZ coordinates
+ */
+
+class NiQuaternion;
+typedef NiQuaternion Quaternion;        //!< A typedef for a shorthand version of NiQuaternion
+
+//! A class that defines a rotation in space
+class NiQuaternion {
+public:
+    float w;            //!< The w coordinate
+    float x;            //!< The x coordinate
+    float y;            //!< The y coordinate
+    float z;            //!< The z coordinate
+    
+    
+    //! The initializer
+    NiQuaternion(void);
+    
+    //! The initializer
+    /*!
+      \param w The w coordinate
+      \param x The x coordinate
+      \param y The y coordinate
+      \param z The z coordinate
+     */
+    NiQuaternion(float w, float x, float y, float z);
+    
+    //! Destructor
+    ~NiQuaternion(void);
+    
+    // MARK: Constants
+    static const NiQuaternion IDENTITY;         //!< Quaternion(1, 0, 0, 0)
+    
+    // MARK: Setters / Getters
+    
+    //! Gets the W coordinate
+    /*!
+      \return The w coordinate
+     */
+    float GetW(void) const;
+    
+    //! Sets the W coordinate
+    /*!
+      \param w The w coordinate
+     */
+    void SetW(float w);
+    
+    //! Gets the X coordinate
+    /*!
+      \return The x coordinate
+     */
+    float GetX(void) const;
+    
+    //! Sets the X coordinate
+    /*!
+      \param x The x coordinate
+     */
+    void SetX(float x);
+    
+    //! Gets the Y coordinate
+    /*!
+      \return The y coordinate
+     */
+    float GetY(void) const;
+    
+    //! Sets the Y coordinate
+    /*!
+      \param y The y coordinate
+     */
+    void SetY(float y);
+    
+    //! Gets the Z coordinate
+    /*!
+      \return The z coordinate
+     */
+    float GetZ(void) const;
+    
+    //! Sets the Z coordinate
+    /*!
+      \param z The z coordinate
+     */
+    void SetZ(float z);
+    
+    
+    // MARK: Member Functions
+    
+    //! Returns the forward vector from the quaternion
+    /*!
+      \return The forward vector of the quaternion
+     */
+    Vector3 GetForwardVector(void) const;
+    
+    //! Returns the up vector from the quaternion
+    /*!
+      \return The up vector fo the quaternion
+     */
+    Vector3 GetUpVector(void) const;
+    
+    //! Returns the right vector from the quaternion
+    /*!
+      \return The right vector of the quaternion
+     */
+    Vector3 GetRightVector(void) const;
+
+    Vector3 GetEulerAngles() const;
+    
+    
+    // MARK: Operators
+    
+    //! Operator to check for equality
+    bool operator==(const NiQuaternion& rot) const;
+    
+    //! Operator to check for inequality
+    bool operator!=(const NiQuaternion& rot) const;
+    
+    
+    // MARK: Helper Functions
+    
+    //! Look from a specific point in space to another point in space (Y-locked)
+    /*!
+      \param sourcePoint The source location
+      \param destPoint The destination location
+      \return The Quaternion with the rotation towards the destination
+     */
+    static NiQuaternion LookAt(const NiPoint3& sourcePoint, const NiPoint3& destPoint);
+    
+    //! Look from a specific point in space to another point in space
+    /*!
+      \param sourcePoint The source location
+      \param destPoint The destination location
+      \return The Quaternion with the rotation towards the destination
+     */
+    static NiQuaternion LookAtUnlocked(const NiPoint3& sourcePoint, const NiPoint3& destPoint);
+    
+    //! Creates a Quaternion from a specific axis and angle relative to that axis
+    /*!
+      \param axis The axis that is used
+      \param angle The angle relative to this axis
+      \return A quaternion created from the axis and angle
+     */
+    static NiQuaternion CreateFromAxisAngle(const Vector3& axis, float angle);
+
+    static NiQuaternion FromEulerAngles(const NiPoint3& eulerAngles);
+};