quaternion.hpp

/*
 Copyright (c) 2026 ETIB Corporation
 
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 this software and associated documentation files (the "Software"), to deal in
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*/
 
#pragma once
 
#include <cmath>
#include <stdexcept>
#include <string>
#include <type_traits>
#include <utility>
 
#include <glm/ext/quaternion_geometric.hpp>
#include <glm/gtx/quaternion.hpp>
 
namespace utility::math
{
 
    using glm::toMat4;
 
    using glm::conjugate;
    using glm::inverse;
    using glm::isinf;
    using glm::isnan;
    using glm::lerp;
    using glm::mix;
    using glm::slerp;
 
    using glm::cross;
    using glm::dot;
    using glm::length;
    using glm::normalize;
 
    template<typename Type>
    concept CanBeQuaternionComponent = std::is_floating_point_v<Type>;
 
    template<CanBeQuaternionComponent QuaternionComponentType> class Quaternion:
        public glm::qua<QuaternionComponentType>
    {
        public:
        Quaternion()
            : glm::qua<QuaternionComponentType>(
                  QuaternionComponentType(1), QuaternionComponentType(0),
                  QuaternionComponentType(0), QuaternionComponentType(0))
        {
        }
 
        Quaternion(QuaternionComponentType x, QuaternionComponentType y,
                   QuaternionComponentType z, QuaternionComponentType w)
            : glm::qua<QuaternionComponentType>(w, x, y, z)
        {
        }
 
        explicit Quaternion(const glm::qua<QuaternionComponentType> &q)
            : glm::qua<QuaternionComponentType>(q)
        {
        }
 
        Quaternion(const Quaternion &other) = default;
 
        Quaternion(Quaternion &&other) noexcept = default;
 
        ~Quaternion() = default;
 
        Quaternion &operator=(const Quaternion &other) = default;
 
        Quaternion &operator=(Quaternion &&other) noexcept = default;
 
        Quaternion operator+(const Quaternion &rhs) const noexcept
        {
            return Quaternion(
                static_cast<const glm::qua<QuaternionComponentType> &>(*this)
                + static_cast<const glm::qua<QuaternionComponentType> &>(rhs));
        }
 
        Quaternion &operator+=(const Quaternion &rhs) noexcept
        {
            *static_cast<glm::qua<QuaternionComponentType> *>(this) +=
                static_cast<const glm::qua<QuaternionComponentType> &>(rhs);
            return *this;
        }
 
        Quaternion operator-(const Quaternion &rhs) const noexcept
        {
            return Quaternion(
                static_cast<const glm::qua<QuaternionComponentType> &>(*this)
                - static_cast<const glm::qua<QuaternionComponentType> &>(rhs));
        }
 
        Quaternion &operator-=(const Quaternion &rhs) noexcept
        {
            *static_cast<glm::qua<QuaternionComponentType> *>(this) -=
                static_cast<const glm::qua<QuaternionComponentType> &>(rhs);
            return *this;
        }
 
        Quaternion operator*(const Quaternion &rhs) const noexcept
        {
            return Quaternion(
                static_cast<const glm::qua<QuaternionComponentType> &>(*this)
                * static_cast<const glm::qua<QuaternionComponentType> &>(rhs));
        }
 
        Quaternion &operator*=(const Quaternion &rhs) noexcept
        {
            *static_cast<glm::qua<QuaternionComponentType> *>(this) =
                static_cast<const glm::qua<QuaternionComponentType> &>(*this)
                * static_cast<const glm::qua<QuaternionComponentType> &>(rhs);
            return *this;
        }
 
        Quaternion operator*(QuaternionComponentType scalar) const noexcept
        {
            return Quaternion(
                static_cast<const glm::qua<QuaternionComponentType> &>(*this)
                * scalar);
        }
 
        Quaternion &operator*=(QuaternionComponentType scalar) noexcept
        {
            *static_cast<glm::qua<QuaternionComponentType> *>(this) *= scalar;
            return *this;
        }
 
        bool operator==(const Quaternion &rhs) const noexcept
        {
            return static_cast<const glm::qua<QuaternionComponentType> &>(*this)
                == static_cast<const glm::qua<QuaternionComponentType> &>(rhs);
        }
 
        bool equalsEpsilon(const Quaternion &rhs,
                           QuaternionComponentType epsilon =
                               QuaternionComponentType { 1e-5 }) const
        {
            return std::abs(this->x - rhs.x) <= epsilon
                && std::abs(this->y - rhs.y) <= epsilon
                && std::abs(this->z - rhs.z) <= epsilon
                && std::abs(this->w - rhs.w) <= epsilon;
        }
 
        bool operator!=(const Quaternion &rhs) const noexcept
        {
            return !(*this == rhs);
        }
 
        Quaternion operator-(void) const noexcept
        {
            return Quaternion(
                -static_cast<const glm::qua<QuaternionComponentType> &>(*this));
        }
 
        friend Quaternion operator*(QuaternionComponentType scalar,
                                    const Quaternion &q)
        {
            return q * scalar;
        }
    };
 
    using QuaternionF = Quaternion<float>;
 
    using QuaternionD = Quaternion<double>;
 
}    // namespace utility::math