Quaternion.h

// Quaternion.h
//
    
namespace nkMaths
{
    class Quaternion
    {
        public :
        
            Quaternion () noexcept ;
            Quaternion (float x, float y, float z, float w) noexcept ;
            Quaternion (const Vector& axis, float angle) noexcept ;
            Quaternion (const Vector& eulerAngles) noexcept ;
            Quaternion (const Vector& a, const Vector& b) noexcept ;
            Quaternion (const Matrix& mat) noexcept ;
            Quaternion (const Quaternion& other) noexcept ;
 
            Vector getAsEulerAngles () const ;
            Vector getAsAxisAngle () const ;
 
            Quaternion& setFromAxisAngle (const Vector& axis, float angle) ;
            Quaternion& setFromEuler (const Vector& angles) ;
            Quaternion& setFromRotationBetween (const Vector& a, const Vector& b) ;
            Quaternion& setFromOrientationMatrix (const Matrix& mat) ;
            Quaternion& setFromTransformationMatrix (const Matrix& mat) ;
 
            // Transformations
            Vector transform (const Vector& vector) const ;
            Vector& apply (Vector& vector) const ;
 
            // Utilities
            nkMemory::String toString () const ;
            Quaternion& fromString (nkMemory::StringView str) ;
 
            // Operators
            Quaternion& operator= (const Quaternion& other) noexcept ;
            Vector operator* (const Vector& other) const ;
            Quaternion operator* (const Quaternion& other) const ;
            void operator*= (const Quaternion& other) ;
            bool operator== (const Quaternion& other) const ;
 
        public :
 
            // Attributes
            float _x ; 
            float _y ; 
            float _z ; 
            float _w ; 
    } ;
}