HOM/HOM_Quaternion.h

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/*
 * PROPRIETARY INFORMATION.  This software is proprietary to
 * Side Effects Software Inc., and is not to be reproduced,
 * transmitted, or disclosed in any way without written permission.
 *
 * Produced by:
 *      Side Effects Software Inc
 *      123 Front Street West, Suite 1401
 *      Toronto, Ontario
 *      Canada   M5J 2M2
 *      416-504-9876
 *
 * COMMENTS:
 */

#ifndef __HOM_Quaternion_h__
#define __HOM_Quaternion_h__

#include "HOM_API.h"
#include "HOM_Defines.h"
#include "HOM_Errors.h"
#include "HOM_Module.h"
#include "HOM_Vector3.h"
#include <UT/UT_Quaternion.h>
#include <vector>
#include <stdexcept>

class HOM_Matrix3;
class HOM_Matrix4;

SWIGOUT(%rename(Quaternion) HOM_Quaternion;)

class HOM_API HOM_Quaternion
{
public:
    HOM_Quaternion() throw(HOM_Error)
    : myQuaternion(0.0f, 0.0f, 0.0f, 1.0f)
    { HOM_CONSTRUCT_OBJECT(this) }

    HOM_Quaternion(float x, float y, float z, float w) throw(HOM_Error)
    : myQuaternion(x, y, z, w)
    { HOM_CONSTRUCT_OBJECT(this) }

    HOM_Quaternion(float angle_in_deg, const std::vector<float> &axis)
        throw(HOM_InvalidSize, HOM_Error)
    {
        setToAngleAxis(angle_in_deg, axis);
        HOM_CONSTRUCT_OBJECT(this)
    }

    HOM_Quaternion(HOM_Matrix3 &matrix3) throw(HOM_Error);
    HOM_Quaternion(HOM_Matrix4 &matrix4) throw(HOM_Error);

    SWIGOUT(%ignore HOM_Quaternion(const UT_Quaternion&);)
    HOM_Quaternion(const UT_Quaternion &quaternion) throw(HOM_Error)
    : myQuaternion(quaternion)
    { HOM_CONSTRUCT_OBJECT(this) }

    ~HOM_Quaternion()
    { HOM_DESTRUCT_OBJECT(this) }

    bool operator==(HOM_Quaternion &quaternion)
    { return myQuaternion == quaternion.myQuaternion; }

    bool operator!=(HOM_Quaternion &quaternion)
    { return myQuaternion != quaternion.myQuaternion; }

    bool isAlmostEqual(HOM_Quaternion &quaternion, float tolerance=0.00001);

    // This method is deprecated.
    bool almostEqual(HOM_Quaternion &quaternion, float tolerance=0.00001)
    { return isAlmostEqual(quaternion, tolerance); }

    int __hash__();
    std::string __str__();
    std::string __repr__();

    float __getitem__(int index) throw(std::out_of_range);
    void __setitem__(int index, float value) throw(std::out_of_range);
    int __len__()
    { return 4; }

    void setTo(const std::vector<float> &tuple) throw(HOM_InvalidSize);

    void setToRotationMatrix(HOM_Matrix3 &matrix3) throw(HOM_Error);
    void setToRotationMatrix(HOM_Matrix4 &matrix4) throw(HOM_Error);

    void setToAngleAxis(float angle_in_deg, const std::vector<float> &axis)
        throw(HOM_InvalidSize, HOM_Error);

    SWIGOUT(%kwargs setToEulerRotates;)
    void setToEulerRotates(
            const std::vector<float> &angles_in_deg,
            const char *rotate_order="xyz")
        throw(HOM_ValueError, HOM_InvalidSize, HOM_Error);

    SWIGOUT(%ignore operator=;)
    HOM_Quaternion &operator=(const HOM_Quaternion& quaternion)
    {
        myQuaternion = quaternion.myQuaternion;
        return *this;
    }

    HOM_Quaternion conjugate();
    HOM_Quaternion inverse();
    float dot(HOM_Quaternion &quaternion)
    { return ::dot(myQuaternion, quaternion.myQuaternion); }

    HOM_Quaternion __add__(HOM_Quaternion &quaternion)
    { return HOM_Quaternion(myQuaternion + quaternion.myQuaternion); }
    HOM_Quaternion __sub__(HOM_Quaternion &quaternion)
    { return HOM_Quaternion(myQuaternion - quaternion.myQuaternion); }
    HOM_Quaternion __mul__(float scalar)
    { return HOM_Quaternion(myQuaternion * scalar); }
    HOM_Quaternion __mul__(HOM_Quaternion &quaternion);

    HOM_Quaternion slerp(HOM_Quaternion &other, float fraction);


    HOM_Quaternion normalized();

    float length()
    { return myQuaternion.length(); }


    SWIGOUT(%newobject extractRotationMatrix3;)
    HOM_Matrix3 *extractRotationMatrix3();

    std::pair<float, HOM_ElemPtr<HOM_Vector3> > extractAngleAxis();

    HOM_Vector3 extractEulerRotates(const char *rotate_order="xyz")
        throw(HOM_ValueError);


    SWIGOUT(%ignore myQuaternion;)
    UT_Quaternion myQuaternion;
};

#endif

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