/*
 * quaternion.cpp
 *
 *  Created on: Jun 17, 2024
 *      Author: Dario
 */

#include <sta/math/quaternion.hpp>

#include <math.h>

namespace sta
{
	namespace math
	{
		Quaternion::Quaternion(float w, float x, float y, float z)
	        : x{x}, y{y}, z{z}, w{w}
	    {

	    }

	    Quaternion::Quaternion()
	    	: x{0}, y{0}, z{0}, w{1}
	    {

	    }

	    Quaternion Quaternion::unit()
	    {
	    	return Quaternion();
	    }

	    float Quaternion::norm()
	    {
	        return sqrtf(x*x + y*y + z*z + w*w);
	    }

	    Quaternion Quaternion::normalized()
	    {
	        float n = norm();

	        return Quaternion(w / n, x / n, y / n, z / n);
	    }

	    Quaternion Quaternion::operator+(const Quaternion& quat)
	    {
	        return Quaternion(x + quat.x, y + quat.y, z + quat.z, w + quat.w);
	    }

	    Quaternion Quaternion::operator*(float scalar)
	    {
	        return Quaternion(x * scalar, y * scalar, z * scalar, w * scalar);
	    }
	}  // namespace math
} // namespace sta