Plugin/Source/SenseGloveCoreImpl/Private/SGCoreImpl/SGQuatImpl.h

/**
 * @file
 *
 * @author  Mamadou Babaei <mamadou@senseglove.com>
 *
 * @section LICENSE
 *
 * (The MIT License)
 *
 * Copyright (c) 2020 - 2023 SenseGlove
 *
 * Permission is hereby granted, free of charge, to any person obtaining a copy
 * of this software and associated documentation files (the "Software"), to deal
 * in the Software without restriction, including without limitation the rights
 * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 * copies of the Software, and to permit persons to whom the Software is
 * furnished to do so, subject to the following conditions:
 *
 * The above copyright notice and this permission notice shall be included in all
 * copies or substantial portions of the Software.
 *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
 * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
 * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
 * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
 * SOFTWARE.
 *
 * @section DESCRIPTION
 *
 *
 */


#pragma once

#include "Containers/UnrealString.h"
#include "Math/Quat.h"
#include "Math/Vector.h"
#include "Templates/UniquePtr.h"

#include "SGCoreImpl/SGPlatform.h"

class FSGVect3DImpl;

namespace SGCore
{
    namespace Kinematics
    {
        class Quat;
    }
}

class SENSEGLOVECOREIMPL_API FSGQuatImpl
{
public:
    typedef SGCore::Kinematics::Quat FQuatType;

public:
    static const FSGQuatImpl& Identity();

    static FSGQuatImpl FromEuler(float XAngle, float YAngle, float ZAngle);
    static FSGQuatImpl FromEuler(const FSGVect3DImpl& Euler);
    static FSGQuatImpl FromEuler(const FVector& Euler);
    static FSGQuatImpl FromAngleAxis(float Angle, float XAxis, float YAxis, float ZAxis);
    static FSGQuatImpl FromAngleAxis(float Angle, const FSGVect3DImpl& Axis);
    static FSGQuatImpl FromAngleAxis(float Angle, const FVector& Axis);

    static FSGQuatImpl Invert(const FSGQuatImpl& QuatImpl);
    static FSGQuatImpl Normalize(const FSGQuatImpl& QuatImpl);

    static bool Deserialize(const FString& String, FSGQuatImpl& OutResult, ANSICHAR Delimiter);

private:
    struct FImpl;

    struct FImplDeleter
    {
        void operator()(const FImpl* P) const;
    };

    TUniquePtr<FImpl, FImplDeleter> Pimpl;
    FImplDeleter PimplDeleter;

public:
    FSGQuatImpl();
    FSGQuatImpl(float X, float Y, float Z, float W);

public:
    /**
     * The cast from underlying type constructor.
     */
    explicit FSGQuatImpl(const FQuatType& Quat);

    /**
     * The cast from FQuat type constructor.
     */
    explicit FSGQuatImpl(const FQuat& Quat);

public:
    /**
     * The copy constructor.
     */
    FSGQuatImpl(const FSGQuatImpl& Rhs);

    /**
     * The move constructor.
     */
    FSGQuatImpl(FSGQuatImpl&& Rhs) SG_NOEXCEPT;

public:
    /**
     * The destructor.
     */
    virtual ~FSGQuatImpl();

public:
    /**
     * The copy assignment operator.
     */
    FSGQuatImpl& operator=(const FSGQuatImpl& Rhs);

    /**
     * The move assignment operator.
     */
    FSGQuatImpl& operator=(FSGQuatImpl&& Rhs) SG_NOEXCEPT;

public:
    /**
     * The cast to underlying type method.
     */
    const FQuatType& ToQuat() const;

    /**
     * The cast to FQuat type method.
     */
    FQuat ToFQuat() const;

public:
    FSGQuatImpl operator*(const FSGQuatImpl& QuatImpl) const;
    FSGVect3DImpl operator*(const FSGVect3DImpl& Vect3DImpl) const;
    FVector operator*(const FVector& Vector) const;

public:
    float GetX() const;
    void SetX(float X);

    float GetY() const;
    void SetY(float Y);

    float GetZ() const;
    void SetZ(float Z);

    float GetW() const;
    void SetW(float W);

public:
    FSGVect3DImpl ToEulerImpl() const;
    FVector ToEuler() const;

    FSGVect3DImpl Rotate(const FSGVect3DImpl& Vect3DImpl) const;
    FVector Rotate(const FVector& Vector) const;

    bool Equals(const FSGQuatImpl& QuatImpl) const;

    bool IsIdentity() const;

    float Magnitude() const;

    FString ToString() const;

    FString Serialize(ANSICHAR Delimiter) const;
};