NRE_Quaternion.hpp

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     #pragma once

     #include <Utility/String/NRE_String.hpp>
     #include <iostream>

     #include "../NRE_Math.hpp"
     #include "../NRE_Unit.hpp"
     #include <Utility/Interfaces/Stringable/NRE_Stringable.hpp>

    namespace NRE {
        namespace Math {

            template<class> class Vector3D;
            template<class> class Vector4D;

            template <class T>
            class Quaternion : public Utility::Stringable<Quaternion<T>> {
                private :   //Fields
                    Vector4D<T> quat;   
                public :   // Methods
                    //## Constructor ##//
                        constexpr Quaternion() = default;
                        template <class K, class L, class N, class M>
                        constexpr Quaternion(K x, L y, N z, M w);
                        template <class K, class L, class N>
                        Quaternion(K x, L y, N z, Angle w);
                        template <class K, class L>
                        constexpr Quaternion(Vector3D<K> const& ax, L an);
                        template <class K>
                        Quaternion(Vector3D<K> const& ax, Angle an);

                    //## Copy-Constructor ##//
                        constexpr Quaternion(Quaternion const& q) = default;

                    //## Move-Constructor ##//
                        constexpr Quaternion(Quaternion && q) = default;

                    //## Convertor ##//
                        template <class K>
                        constexpr Quaternion(Quaternion<K> const& q);

                    //## Deconstructor ##//
                        ~Quaternion() = default;

                    //## Getter ##//
                        constexpr T getX() const;
                        constexpr T getY() const;
                        constexpr T getZ() const;
                        constexpr T getW() const;
                        constexpr Vector3D<T> getAxis() const;
                        constexpr Vector4D<T> const& getQuaternion() const;

                    //## Setter ##//
                        template <class K>
                        constexpr void setX(K x);
                        template <class K>
                        constexpr void setY(K y);
                        template <class K>
                        constexpr void setZ(K z);
                        template <class K>
                        constexpr void setW(K w);
                        template <class K>
                        inline void setAngleAxis(Vector3D<K> const& axis, Angle w);
                        constexpr void setIdentity();

                    //## Members ##//
                        long double norm() const;
                        constexpr T normSquared() const;
                        Quaternion normalize();
                        constexpr const T* value() const;

                    //## Assignment Operator ##//
                        constexpr Quaternion& operator =(Quaternion const& q) = default;
                        constexpr Quaternion& operator =(Quaternion && q) = default;
                        template <class K>
                        constexpr Quaternion& operator =(Quaternion<K> const& q);
                        template <class K>
                        constexpr Quaternion& operator =(Quaternion<K> && q);

                    //## Shortcut Operator ##//
                        template <class K>
                        constexpr Quaternion& operator*=(Quaternion<K> const& q);

                    //## Arithmetic Operator ##//
                        template <class K>
                        constexpr Quaternion<std::common_type_t<T, K>> operator*(Quaternion<K> const& q) const;

                    //## Stream Operator ##//
                        Utility::String toString() const;
            };
        }
    }

    #include "NRE_Quaternion.tpp"