i6eQuaternion.h

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/*
 * i6engine
 * Copyright (2016) Daniel Bonrath, Michael Baer, All rights reserved.
 *
 * This file is part of i6engine; i6engine is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */

/*
 * A class to "transport" Quaternion
 *
 * its better to send only 1 "type" to the game then many
 */

#ifndef  __I6ENGINE_MATH_I6EQUATERNION_H__
#define  __I6ENGINE_MATH_I6EQUATERNION_H__

#include <map>
#include <string>

#include "i6engine/utils/i6eSystemParameters.h"

namespace Ogre {
        class Quaternion;
} /* namespace Ogre */
class btQuaternion;

namespace i6e {
namespace math {

        class i6eVector;

        class ISIXE_MATH_API i6eQuaternion {
                static const double EPSILON;

        public:
                static const i6eQuaternion IDENTITY;

                i6eQuaternion() : _w(1.0), _x(0.0), _y(0.0), _z(0.0) {
                }

                i6eQuaternion(const double w, const double x, const double y, const double z) : _w(w), _x(x), _y(y), _z(z) {
                }

                i6eQuaternion(const i6eVector & axis, const double angle);

                explicit i6eQuaternion(const Ogre::Quaternion & ogre);

                explicit i6eQuaternion(const btQuaternion & bullet);

                /*
                 * \brief Constructs a quaternion from an attributeMap
                 *
                 * \param[in] params the attributeMap containing informations for the quaternion
                 */
                i6eQuaternion(const std::map<std::string, std::string> & params, const std::string & prefix);

                /*
                 * \brief Constructs a quaternion from a string
                 */
                explicit i6eQuaternion(const std::string & str);

                ~i6eQuaternion() {
                }

                double getW() const { return _w; }
                double getX() const { return _x; }
                double getY() const { return _y; }
                double getZ() const { return _z; }

                void setW(const double w) { _w = w; }
                void setX(const double x) { _x = x; }
                void setY(const double y) { _y = y; }
                void setZ(const double z) { _z = z; }

                i6eQuaternion operator+(const i6eQuaternion & b) const {
                        return i6eQuaternion(_w + b.getW(), _x + b.getX(), _y + b.getY(), _z + b.getZ());
                }

                i6eQuaternion operator-(const i6eQuaternion & b) const {
                        return i6eQuaternion(_w - b.getW(), _x - b.getX(), _y - b.getY(), _z - b.getZ());
                }

                i6eQuaternion operator*(const i6eQuaternion & q) const {
                        return i6eQuaternion(
                                _w * q.getW() - _x * q.getX() - _y * q.getY() - _z * q.getZ(),
                                _w * q.getX() + _x * q.getW() + _y * q.getZ() - _z * q.getY(),
                                _w * q.getY() + _y * q.getW() + _z * q.getX() - _x * q.getZ(),
                                _w * q.getZ() + _z * q.getW() + _x * q.getY() - _y * q.getX());
                }

                i6eQuaternion operator*(const double & v) const {
                        return i6eQuaternion(_w * v, _x * v, _y * v, _z * v);
                }

                i6eQuaternion operator/(const double & v) const {
                        return i6eQuaternion(_w / v, _x / v, _y / v, _z / v);
                }

                i6eQuaternion operator+=(const i6eQuaternion & b) {
                        setW(getW() + b.getW());
                        setX(getX() + b.getX());
                        setY(getY() + b.getY());
                        setZ(getZ() + b.getZ());
                        return *this;
                }

                void insertInMap(const std::string & prefix, std::map<std::string, std::string> & map) const;

                i6eQuaternion inverse() const {
                        return i6eQuaternion(_w, -_x, -_y, -_z);
                }

                double length() const;

                i6eQuaternion normalize() const;

                bool equals(const i6eQuaternion & q, double eps = i6eQuaternion::EPSILON) const;

                void toAxisAngle(i6eVector & axis, double & angle) const;

                bool operator==(const i6eQuaternion & b) const;

                bool operator!=(const i6eQuaternion & b) const {
                        return !(*this == b);
                }

                i6eVector toVector() const;

                Ogre::Quaternion toOgre() const;

                btQuaternion toBullet() const;

                std::string toString() const;

                template<class Archive>
                void serialize(Archive & ar, const unsigned int) {
                        ar & _w;
                        ar & _x;
                        ar & _y;
                        ar & _z;
                }

                private:
                        double _w, _x, _y, _z;
        };

        ISIXE_MATH_API std::ostream & operator<<(std::ostream & stream, const i6eQuaternion & q);

        ISIXE_MATH_API i6eQuaternion operator*(const i6eQuaternion & q, const i6eVector & w);

        ISIXE_MATH_API i6eQuaternion operator*(const i6eVector & w, const i6eQuaternion & q);

        ISIXE_MATH_API double dotProduct(const i6eQuaternion & p, const i6eQuaternion & q);

        ISIXE_MATH_API double scalProd(const i6eQuaternion & p, const i6eQuaternion & q);

} /* namespace math */
} /* namespace i6e */

typedef i6e::math::i6eQuaternion Quaternion;

#endif /* __I6ENGINE_MATH_I6EQUATERNION_H__ */