orientation.hpp

/*
 Copyright (c) 2026 ETIB Corporation
 
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*/
 
#pragma once
 
#include <cmath>
#include <type_traits>
 
#include "utility/math/matrix.hpp"
#include "utility/math/quaternion.hpp"
#include "utility/math/vector.hpp"
 
namespace utility::graphic
{
 
    template<typename Type>
    concept CanBeOrientationComponent = std::is_floating_point_v<Type>;
 
    template<CanBeOrientationComponent OrientationComponentType>
    class Orientation:
        public utility::math::Quaternion<OrientationComponentType>
    {
        public:
        Orientation(void)
            : utility::math::Quaternion<OrientationComponentType>(
                  OrientationComponentType(0), OrientationComponentType(0),
                  OrientationComponentType(0), OrientationComponentType(1))
        {
        }
 
        explicit Orientation(OrientationComponentType value)
            : utility::math::Quaternion<OrientationComponentType>(value, value,
                                                                  value, value)
        {
        }
 
        explicit Orientation(
            const utility::math::Quaternion<OrientationComponentType>
                &quaternion)
            : utility::math::Quaternion<OrientationComponentType>(quaternion)
        {
        }
 
        Orientation(OrientationComponentType x, OrientationComponentType y,
                    OrientationComponentType z, OrientationComponentType w)
            : utility::math::Quaternion<OrientationComponentType>(x, y, z, w)
        {
        }
 
        Orientation(std::initializer_list<OrientationComponentType> values)
            : utility::math::Quaternion<OrientationComponentType>(
                  OrientationComponentType(0), OrientationComponentType(0),
                  OrientationComponentType(0), OrientationComponentType(1))
        {
            if (values.size() != 4) {
                throw std::invalid_argument(
                    "Orientation requires exactly four components");
            }
            const auto it = values.begin();
            this->x       = *it;
            this->y       = *(it + 1);
            this->z       = *(it + 2);
            this->w       = *(it + 3);
        }
 
        Orientation(
            const std::initializer_list<OrientationComponentType> &value)
            : utility::math::Quaternion<OrientationComponentType>(value)
        {
        }
 
        Orientation(const Orientation &other) = default;
 
        Orientation(Orientation &&other) noexcept = default;
 
        Orientation &operator=(const Orientation &other) = default;
 
        Orientation &operator=(Orientation &&other) noexcept = default;
 
        ~Orientation(void) = default;
 
        utility::math::Vector<OrientationComponentType, 3>
            getForward(void) const noexcept
        {
            return utility::math::Vector<OrientationComponentType, 3>(
                utility::math::Quaternion<OrientationComponentType>(
                    this->x, this->y, this->z, this->w)
                * utility::math::Vector<OrientationComponentType, 3> {
                    OrientationComponentType(0), OrientationComponentType(0),
                    OrientationComponentType(-1) });
        }
 
        utility::math::Vector<OrientationComponentType, 3>
            getUp(void) const noexcept
        {
            return utility::math::Vector<OrientationComponentType, 3>(
                utility::math::Quaternion<OrientationComponentType>(
                    this->x, this->y, this->z, this->w)
                * utility::math::Vector<OrientationComponentType, 3> {
                    OrientationComponentType(0), OrientationComponentType(1),
                    OrientationComponentType(0) });
        }
 
        utility::math::Vector<OrientationComponentType, 3>
            getRight(void) const noexcept
        {
            return utility::math::Vector<OrientationComponentType, 3>(
                utility::math::Quaternion<OrientationComponentType>(
                    this->x, this->y, this->z, this->w)
                * utility::math::Vector<OrientationComponentType, 3> {
                    OrientationComponentType(1), OrientationComponentType(0),
                    OrientationComponentType(0) });
        }
 
        utility::math::Vector<OrientationComponentType, 3> transformPoint(
            const utility::math::Vector<OrientationComponentType, 3> &local)
            const noexcept
        {
            return utility::math::Vector<OrientationComponentType, 3>(
                utility::math::Quaternion<OrientationComponentType>(
                    this->x, this->y, this->z, this->w)
                * local);
        }
 
        utility::math::Vector<OrientationComponentType, 3> rotateVector(
            const utility::math::Vector<OrientationComponentType, 3> &direction)
            const noexcept
        {
            return transformPoint(direction);
        }
 
        Orientation combined(const Orientation &parent) const noexcept
        {
            return Orientation(
                utility::math::Quaternion<OrientationComponentType>(
                    parent.x, parent.y, parent.z, parent.w)
                * utility::math::Quaternion<OrientationComponentType>(
                    this->x, this->y, this->z, this->w));
        }
 
        math::Matrix4x4F toRotationMatrix(void) const noexcept
        {
            return math::Matrix4x4F(math::toMat4(
                utility::math::Quaternion<OrientationComponentType>(
                    this->x, this->y, this->z, this->w)));
        }
 
        Orientation normalized(void) const noexcept
        {
            return Orientation(
                utility::math::Quaternion<OrientationComponentType>(
                    utility::math::normalize(
                        static_cast<const utility::math::Quaternion<
                            OrientationComponentType> &>(*this))));
        }
 
        Orientation inversed(void) const noexcept
        {
            return Orientation(
                utility::math::Quaternion<OrientationComponentType>(
                    utility::math::inverse(
                        static_cast<const utility::math::Quaternion<
                            OrientationComponentType> &>(*this))));
        }
 
        bool isIdentity(OrientationComponentType epsilon =
                            OrientationComponentType { 1e-6 }) const noexcept
        {
            return std::abs(this->x) <= epsilon && std::abs(this->y) <= epsilon
                && std::abs(this->z) <= epsilon
                && std::abs(this->w - OrientationComponentType { 1 })
                <= epsilon;
        }
 
        bool operator==(const Orientation &other) const noexcept
        {
            if (this->x != other.x) {
                return false;
            }
            if (this->y != other.y) {
                return false;
            }
            if (this->z != other.z) {
                return false;
            }
            if (this->w != other.w) {
                return false;
            }
            return true;
        }
 
        bool operator!=(const Orientation &other) const noexcept
        {
            return !(*this == other);
        }
 
        bool operator<(const Orientation &other) const noexcept
        {
            if (this->x != other.x) {
                return this->x < other.x;
            }
            if (this->y != other.y) {
                return this->y < other.y;
            }
            if (this->z != other.z) {
                return this->z < other.z;
            }
            if (this->w != other.w) {
                return this->w < other.w;
            }
            return false;
        }
    };
 
    using OrientationF = Orientation<float>;
 
    using OrientationD = Orientation<double>;
 
    std::ostream &operator<<(std::ostream &stream,
                             const OrientationF &orientation);
 
    std::ostream &operator<<(std::ostream &stream,
                             const OrientationD &orientation);
 
}    // namespace utility::graphic