1#pragma once
2
3#include <basis/seadTypes.h>
4#include <cmath>
5#include <limits>
6#include <math/seadMathPolicies.h>
7#include <math/seadVector.h>
8
9namespace sead
10{
11template <typename T>
12struct Quat : public Policies<T>::QuatBase
13{
14private:
15 typedef Quat<T> Self;
16 typedef Vector3<T> Vec3;
17
18public:
19 Quat() {}
20 Quat(const Quat& other) = default;
21 Quat(T w, T x, T y, T z);
22
23 Quat& operator=(const Quat& other)
24 {
25 this->x = other.x;
26 this->y = other.y;
27 this->z = other.z;
28 this->w = other.w;
29 return *this;
30 }
31
32 friend Quat operator*(const Quat& a, T t)
33 {
34 auto result = a;
35 result *= t;
36 return result;
37 }
38
39 friend Quat operator*(const Quat& a, const Quat& b)
40 {
41 auto result = a;
42 result *= b;
43 return result;
44 }
45
46 friend Quat operator*(T t, const Quat& a) { return operator*(a, t); }
47
48 Quat& operator*=(const Quat& t);
49
50 Quat& operator*=(T t)
51 {
52 this->w *= t;
53 this->x *= t;
54 this->y *= t;
55 this->z *= t;
56 return *this;
57 }
58
59 bool operator==(const Quat& rhs) const
60 {
61 return this->x == rhs.x && this->y == rhs.y && this->z == rhs.z && this->w == rhs.w;
62 }
63
64 T length() const;
65 T normalize();
66 T dot(const Self& q);
67 void inverse(Self* q);
68
69 void makeUnit();
70 bool makeVectorRotation(const Vec3& from, const Vec3& to);
71 void set(const Self& other);
72 void set(T w, T x, T y, T z);
73 void setRPY(T roll, T pitch, T yaw);
74 void calcRPY(Vec3& rpy) const;
75
76 static const Quat unit;
77};
78
79using Quatf = Quat<f32>;
80
81template <>
82const Quatf Quatf::unit;
83
84} // namespace sead
85
86#define SEAD_MATH_QUAT_H_
87#include <math/seadQuat.hpp>
88#undef SEAD_MATH_QUAT_H_
89