core/math/Quaternion.hpp

#ifndef CORE_QUATERNION_HPP
#define CORE_QUATERNION_HPP

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

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;

        template<typename String>
        check_return Error toString(String& s) const {
            CORE_RETURN_ERROR(s.append("("));
            CORE_RETURN_ERROR(s.append(xyz[0]));
            CORE_RETURN_ERROR(s.append(" i + "));
            CORE_RETURN_ERROR(s.append(xyz[1]));
            CORE_RETURN_ERROR(s.append(" j + "));
            CORE_RETURN_ERROR(s.append(xyz[2]));
            CORE_RETURN_ERROR(s.append(" k + "));
            CORE_RETURN_ERROR(s.append(w));
            CORE_RETURN_ERROR(s.append(')'));
            return Error::NONE;
        }
    };
}

#endif