Quaternion.h

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#pragma once
#include "Vector3.h"
#include "Vector4.h"
#include "Matrix4x4.h"
 
namespace Eule
{
    class Quaternion
    {
    public:
        Quaternion();
 
        explicit Quaternion(const Vector4d values);
 
        Quaternion(const Quaternion& q);
 
        Quaternion(const Vector3d eulerAngles);
 
        ~Quaternion();
 
        Quaternion operator= (const Quaternion& q);
 
        Quaternion operator* (const Quaternion& q) const;
 
        Quaternion operator/ (Quaternion& q) const;
 
        Quaternion& operator*= (const Quaternion& q);
 
        Quaternion& operator/= (const Quaternion& q);
 
        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;
 
        Vector3d RotateVector(const Vector3d& vec) const;
 
        Vector3d ToEulerAngles() const;
 
        Matrix4x4 ToRotationMatrix() const;
 
        Vector4d GetRawValues() const;
 
        Quaternion AngleBetween(const Quaternion& other) const;
 
        void SetRawValues(const Vector4d values);
 
        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:
        Quaternion operator* (const double scale) const;
        Quaternion& operator*= (const double scale);
 
        Vector4d v;
 
        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;
 
    };
}