#ifndef CORE_QUATERNION_H
#define CORE_QUATERNION_H

#include "core/Vector.h"

typedef struct {
    CoreVector3 xyz;
    float w;
} CoreQuaternion;

#define CORE_UNIT_QUATERNION ((CoreQuaternion){{{0.0f, 0.0f, 0.0f}}, 1.0f})

CoreQuaternion* coreAxisAngleQ(CoreQuaternion* q, const CoreVector3* axis,
                               float angle);
CoreQuaternion* coreLerpQ(CoreQuaternion* q, const CoreQuaternion* a, float f,
                          const CoreQuaternion* b);
CoreQuaternion* coreMulSetQ(CoreQuaternion* q, const CoreQuaternion* other);
CoreQuaternion* coreMulQ(CoreQuaternion* q, const CoreQuaternion* a,
                         const CoreQuaternion* b);
CoreVector3* coreMulQV3(CoreVector3* r, const CoreQuaternion* q,
                        const CoreVector3* v);
size_t coreToStringQ(const CoreQuaternion* q, char* buffer, size_t n);

#ifdef IMPORT_CORE
#define Quaternion CoreQuaternion
#define UNIT_QUATERNION CORE_UNIT_QUATERNION
#define axisAngleQ coreAxisAngleQ
#define lerpQ coreLerpQ
#define mulSetQ coreMulSetQ
#define mulQ coreMulQ
#define mulQV3 coreMulQV3
#define toStringQ coreToStringQ
#endif

#endif