core/math/Quaternion.h

#ifndef CORE_QUATERNION_H
#define CORE_QUATERNION_H

#include "math/Vector.h"
#include "utils/ArrayString.h"

namespace Core {
    class Quaternion final {
        Vector3 xyz;
        float w;

    public:
        Quaternion();
        Quaternion(const Vector3& axis, float angle);

        Quaternion lerp(float f, const Quaternion& other) const;
        Quaternion& operator*=(const Quaternion& other);
        Quaternion operator*(const Quaternion& other) const;
        Vector3 operator*(const Vector3& v) const;

        // returns true on error and calls the error callback
        template<int L>
        check_return bool toString(ArrayString<L>& s) const {
            return s.append("(") || s.append(xyz[0]) || s.append(" i + ") ||
                   s.append(xyz[1]) || s.append(" j + ") || s.append(xyz[2]) ||
                   s.append(" k + ") || s.append(w) || s.append(')');
        }
    };
}

#endif