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Replace Quaternion with glm math (#1868)
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David Markowitz
@@ -1,158 +1,27 @@
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#ifndef __NIQUATERNION_H__
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#define __NIQUATERNION_H__
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#ifndef NIQUATERNION_H
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#define NIQUATERNION_H
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// Custom Classes
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#include "NiPoint3.h"
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/*!
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\file NiQuaternion.hpp
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\brief Defines a quaternion in space in WXYZ coordinates
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*/
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#define GLM_FORCE_QUAT_DATA_WXYZ
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class NiQuaternion;
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typedef NiQuaternion Quaternion; //!< A typedef for a shorthand version of NiQuaternion
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#include <glm/ext/quaternion_float.hpp>
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//! A class that defines a rotation in space
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class NiQuaternion {
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public:
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float w{ 1 }; //!< The w coordinate
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float x{ 0 }; //!< The x coordinate
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float y{ 0 }; //!< The y coordinate
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float z{ 0 }; //!< The z coordinate
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using Quaternion = glm::quat;
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using NiQuaternion = Quaternion;
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//! The initializer
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constexpr NiQuaternion() = default;
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//! The initializer
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/*!
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\param w The w coordinate
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\param x The x coordinate
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\param y The y coordinate
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\param z The z coordinate
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*/
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constexpr NiQuaternion(const float w, const float x, const float y, const float z) noexcept
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: w{ w }
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, x{ x }
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, y{ y }
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, z{ z } {
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}
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// MARK: Setters / Getters
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//! Gets the W coordinate
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/*!
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\return The w coordinate
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*/
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[[nodiscard]] constexpr float GetW() const noexcept;
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//! Sets the W coordinate
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/*!
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\param w The w coordinate
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*/
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constexpr void SetW(const float w) noexcept;
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//! Gets the X coordinate
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/*!
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\return The x coordinate
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*/
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[[nodiscard]] constexpr float GetX() const noexcept;
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//! Sets the X coordinate
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/*!
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\param x The x coordinate
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*/
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constexpr void SetX(const float x) noexcept;
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//! Gets the Y coordinate
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/*!
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\return The y coordinate
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*/
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[[nodiscard]] constexpr float GetY() const noexcept;
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//! Sets the Y coordinate
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/*!
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\param y The y coordinate
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*/
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constexpr void SetY(const float y) noexcept;
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//! Gets the Z coordinate
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/*!
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\return The z coordinate
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*/
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[[nodiscard]] constexpr float GetZ() const noexcept;
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//! Sets the Z coordinate
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/*!
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\param z The z coordinate
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*/
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constexpr void SetZ(const float z) noexcept;
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// MARK: Member Functions
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//! Returns the forward vector from the quaternion
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/*!
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\return The forward vector of the quaternion
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*/
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[[nodiscard]] constexpr Vector3 GetForwardVector() const noexcept;
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//! Returns the up vector from the quaternion
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/*!
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\return The up vector fo the quaternion
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*/
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[[nodiscard]] constexpr Vector3 GetUpVector() const noexcept;
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//! Returns the right vector from the quaternion
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/*!
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\return The right vector of the quaternion
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*/
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[[nodiscard]] constexpr Vector3 GetRightVector() const noexcept;
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[[nodiscard]] Vector3 GetEulerAngles() const;
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// MARK: Operators
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//! Operator to check for equality
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constexpr bool operator==(const NiQuaternion& rot) const noexcept;
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//! Operator to check for inequality
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constexpr bool operator!=(const NiQuaternion& rot) const noexcept;
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// MARK: Helper Functions
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//! Look from a specific point in space to another point in space (Y-locked)
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/*!
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\param sourcePoint The source location
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\param destPoint The destination location
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\return The Quaternion with the rotation towards the destination
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*/
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[[nodiscard]] static NiQuaternion LookAt(const NiPoint3& sourcePoint, const NiPoint3& destPoint);
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//! Look from a specific point in space to another point in space
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/*!
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\param sourcePoint The source location
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\param destPoint The destination location
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\return The Quaternion with the rotation towards the destination
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*/
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[[nodiscard]] static NiQuaternion LookAtUnlocked(const NiPoint3& sourcePoint, const NiPoint3& destPoint);
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//! Creates a Quaternion from a specific axis and angle relative to that axis
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/*!
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\param axis The axis that is used
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\param angle The angle relative to this axis
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\return A quaternion created from the axis and angle
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*/
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[[nodiscard]] static NiQuaternion CreateFromAxisAngle(const Vector3& axis, float angle);
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[[nodiscard]] static NiQuaternion FromEulerAngles(const NiPoint3& eulerAngles);
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namespace QuatUtils {
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constexpr NiQuaternion IDENTITY = glm::identity<NiQuaternion>();
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Vector3 Forward(const NiQuaternion& quat);
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Vector3 Up(const NiQuaternion& quat);
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Vector3 Right(const NiQuaternion& quat);
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NiQuaternion LookAt(const NiPoint3& from, const NiPoint3& to);
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NiQuaternion LookAtUnlocked(const NiPoint3& from, const NiPoint3& to);
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Vector3 Euler(const NiQuaternion& quat);
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NiQuaternion AxisAngle(const Vector3& axis, float angle);
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NiQuaternion FromEuler(const NiPoint3& eulerAngles);
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constexpr float PI_OVER_180 = glm::pi<float>() / 180.0f;
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};
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// Static Variables
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namespace NiQuaternionConstant {
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constexpr NiQuaternion IDENTITY(1, 0, 0, 0);
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}
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// Include constexpr and inline function definitions in a seperate file for readability
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#include "NiQuaternion.inl"
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#endif // !__NIQUATERNION_H__
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#endif // !NIQUATERNION_H
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