DtQuat.h

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/******************************************************************************
** Copyright (c) 2025 MAK Technologies, Inc.
** All rights reserved.
******************************************************************************/


#pragma once
#include <vrvUtil/vrvUtil.h>

#include <matrix/vlVector.h>

namespace makVrv
{
   class DtQuat
   {
   public:
      DtVector xyz; 
      double w; 

      inline DtQuat();
      inline DtQuat(double x, double y, double z, double w);
      inline DtQuat(const DtVector& i, double real);

      inline DtQuat(double theta_z, double theta_y, double theta_x);
      
      inline DtQuat(const DtVector& angles);

      inline void set(double x,double y,double z,double w);

      inline DtQuat& operator=(const DtQuat& q);

      inline DtQuat operator+(const DtQuat& q) const;
      inline DtQuat operator-(const DtQuat& q) const;
      inline DtQuat operator*(const DtQuat& q) const;
      inline DtQuat operator/(const DtQuat& q) const;
      inline DtQuat operator*(double scale) const;
      inline DtQuat operator/(double scale) const;
      inline DtQuat operator-() const;
      inline const DtQuat& operator+=(const DtQuat& q);
      inline const DtQuat& operator-=(const DtQuat& q);
      inline const DtQuat& operator*=(const DtQuat& q);
      inline const DtQuat& operator*= (double scale);
      inline const DtQuat& operator/=(double scale);
      inline friend std::ostream& operator<<( std::ostream& os, const DtQuat& );

      inline double length() const;

      inline double length_squared() const;

      inline void normalize();

      inline DtQuat normalized() const;     

      inline void conjugate();

      inline void invert();

      inline DtQuat log() const;

      inline DtQuat exp() const;

      inline void getMatrix4(double matrix[16]) const;

      inline void getMatrix3(double matrix[9]) const;

      static inline double dot(const DtQuat& q1, const DtQuat& q2);      

      static inline DtQuat lerp(const DtQuat& q1, const DtQuat& q2, double t);

      static inline DtQuat slerp(const DtQuat& q1, const DtQuat& q2, double t);

      static inline DtQuat slerpNoInvert(const DtQuat& q1, const DtQuat& q2, double t);
      
      static inline DtQuat squad(const DtQuat& q1,const DtQuat& q2,const DtQuat& a,const DtQuat& b,double t);      

      static inline DtQuat bezier(const DtQuat& q1,const DtQuat& q2,const DtQuat& a,const DtQuat& b,double t);
      
      static inline DtQuat spline(const DtQuat& qnm1,const DtQuat& qn,const DtQuat& qnp1);

      static inline DtQuat from_axis_angle(const DtVector& axis, double angle);

      inline void to_axis_angle(DtVector& axis, double& angle) const;

      inline DtVector rotate(const DtVector& v) const;      

      inline DtVector euler_angles() const;      
   };

   
}

#define DtQuat_INL_
#include <vrvUtil/DtQuat.inl>
#undef DtQuat_INL_