TransformRotation.hpp

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// Copyright (c) 2023 Sapphire Development Team. All Rights Reserved.
 
#pragma once
 
#ifndef SAPPHIRE_MATHS_TRANSFORM_ROTATION_GUARD
#define SAPPHIRE_MATHS_TRANSFORM_ROTATION_GUARD
 
#include <SA/Maths/Space/Quaternion.hpp>
 
#include <SA/Maths/Transform/Components/TransformComponent.hpp>
 
 
namespace SA
{
    template <typename T>
    struct TrRotation
    {
        Quat<T> rotation = Quat<T>::Identity;
 
 
    //{ Constructors
 
        TrRotation() = default;
 
        TrRotation(const Quat<T>& _rot) noexcept :
            rotation{ _rot }
        {
        }
    
    //}
 
    //{ Cast
 
        template <typename TOut>
        operator TrRotation<TOut>() const noexcept
        {
            return TrRotation<TOut>(rotation);
        }
 
    //}
 
    protected:
 
    //{ Equals
 
        constexpr bool IsZero() const noexcept
        {
            return rotation.IsZero();
        }
 
        constexpr bool IsIdentity() const noexcept
        {
            return rotation.IsIdentity();
        }
 
        constexpr bool Equals(const TrRotation& _other,
            T _epsilon = std::numeric_limits<T>::epsilon()) const noexcept
        {
            return rotation.Equals(_other.rotation, _epsilon);
        }
 
    //}
 
 
    //{ Lerp
 
        static TrRotation LerpUnclamped(const TrRotation& _start, const TrRotation& _end, float _alpha) noexcept
        {
            return TrRotation{ Quat<T>::SLerpUnclamped(_start.rotation, _end.rotation, _alpha) };
        }
 
    //}
 
 
    //{ Operators
 
        template <typename RhsT>
        static TrRotation Multiply(const TrRotation& _lhs, const RhsT& _rhs) noexcept
        {
            if constexpr (TrTHasComponent(RhsT)<SA::TrRotation>())
            {
                // Rotation component found.
 
                return TrRotation{ _lhs.rotation * _rhs.rotation };
            }
            else
            {
                // Default: forward component (lhs always has this component).
 
                return _lhs;
            }
        }
 
        template <typename RhsT>
        static TrRotation Divide(const TrRotation& _lhs, const RhsT& _rhs) noexcept
        {
            if constexpr (TrTHasComponent(RhsT)<SA::TrRotation>())
            {
                // Rotation component found.
 
                return TrRotation{ _lhs.rotation / _rhs.rotation };
            }
            else
            {
                // Default: forward component (lhs always has this component).
 
                return _lhs;
            }
        }
 
    //}
 
    #if SA_LOGGER_IMPL
 
        std::string ToString() const
        {
            return "Rot: " + SA::ToString(rotation);
        }
 
    #endif
 
    };
}
 
 
#endif // GUARD