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#pragma once
#include "mat3.hpp"
#include "mat4.hpp"
namespace mbgl {
struct Quaternion {
union {
vec4 m;
struct {
double x, y, z, w;
};
};
Quaternion() : Quaternion(0.0, 0.0, 0.0, 0.0) {}
Quaternion(double x_, double y_, double z_, double w_) : x(x_), y(y_), z(z_), w(w_) {}
Quaternion(const vec4& vec) : m(vec) {}
Quaternion conjugate() const;
Quaternion normalized() const;
Quaternion multiply(const Quaternion& o) const;
double length() const;
vec3 transform(const vec3& v) const;
mat4 toRotationMatrix() const;
static Quaternion fromAxisAngle(const vec3& axis, double angleRad);
static Quaternion fromEulerAngles(double x, double y, double z);
static Quaternion identity;
};
bool operator==(const Quaternion&, const Quaternion&);
bool operator!=(const Quaternion&, const Quaternion&);
} // namespace mbgl
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