Moved Eule to its own repository

Eule/Quaternion.h

@@ -0,0 +1,99 @@
+#pragma once
+#include "Vector3.h"
+#include "Vector4.h"
+#include "Matrix4x4.h"
+
+namespace Eule
+{
+    /** 3D rotation representation
+    */
+    class Quaternion
+    {
+    public:
+        Quaternion();
+
+        //! Constructs by these raw values
+        explicit Quaternion(const Vector4d values);
+
+        //! Copies this existing Quaternion
+        Quaternion(const Quaternion& q);
+
+        //! Creates an quaternion from euler angles
+        Quaternion(const Vector3d eulerAngles);
+
+        ~Quaternion();
+
+        //! Copies
+        Quaternion operator= (const Quaternion& q);
+
+        //! Multiplies (applies)
+        Quaternion operator* (const Quaternion& q) const;
+
+        //! Divides (applies)
+        Quaternion operator/ (Quaternion& q) const;
+
+        //! Also multiplies
+        Quaternion& operator*= (const Quaternion& q);
+
+        //! Also divides
+        Quaternion& operator/= (const Quaternion& q);
+
+        //! Will transform a 3d point around its origin
+        Vector3d operator* (const Vector3d& p) const;
+
+        bool operator== (const Quaternion& q) const;
+        bool operator!= (const Quaternion& q) const;
+
+        Quaternion Inverse() const;
+
+        Quaternion Conjugate() const;
+
+        Quaternion UnitQuaternion() const;
+
+        //! Will rotate a vector by this quaternion
+        Vector3d RotateVector(const Vector3d& vec) const;
+
+        //! Will return euler angles representing this Quaternion's rotation
+        Vector3d ToEulerAngles() const;
+
+        //! Will return a rotation matrix representing this Quaternions rotation
+        Matrix4x4 ToRotationMatrix() const;
+
+        //! Will return the raw four-dimensional values
+        Vector4d GetRawValues() const;
+
+        //! Will return the value between two Quaternion's as another Quaternion
+        Quaternion AngleBetween(const Quaternion& other) const;
+
+        //! Will set the raw four-dimensional values
+        void SetRawValues(const Vector4d values);
+
+        //! Will return the lerp result between two quaternions
+        Quaternion Lerp(const Quaternion& other, double t) const;
+
+        friend std::ostream& operator<< (std::ostream& os, const Quaternion& q);
+        friend std::wostream& operator<< (std::wostream& os, const Quaternion& q);
+
+    private:
+        //! Scales
+        Quaternion operator* (const double scale) const;
+        Quaternion& operator*= (const double scale);
+
+        //! Quaternion values
+        Vector4d v;
+
+        //! Will force a regenartion of the euler and matrix caches on further converter calls
+        void InvalidateCache();
+
+        // Caches for conversions
+        mutable bool isCacheUpToDate_euler = false;
+        mutable Vector3d cache_euler;
+
+        mutable bool isCacheUpToDate_matrix = false;
+        mutable Matrix4x4 cache_matrix;
+
+        mutable bool isCacheUpToDate_inverse = false;
+        mutable Vector4d cache_inverse;
+
+    };
+}