Position.h

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//   Copyright 2024 Jaroslav Pevno, JPLSpatial is offered under the terms of the ISC license:
//
//   Permission to use, copy, modify, and/or distribute this software for any purpose with or
//   without fee is hereby granted, provided that the above copyright notice and this permission
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//   CONNECTION WITH THE USE OR PERFORMANCE OF THIS SOFTWARE.
 
#pragma once
 
#include "JPLSpatial/Core.h"
#include "JPLSpatial/Math/MinimalQuat.h"
#include "JPLSpatial/Math/MinimalBasis.h"
#include "JPLSpatial/Math/Vec3Traits.h"
 
namespace JPL
{
    template<CVec3 Vec3Type>
    struct OrientationData
    {
        // Note: we may just switch to Basis to store all three axes at some point,
        // unless we want to keep this Orientation as customization point
        // for the different axes semantics in different engies.
 
        Vec3Type Up;
        Vec3Type Forward;
 
        [[nodiscard]] JPL_INLINE static OrientationData<Vec3Type> Identity() noexcept
        {
            return { .Up = Vec3Type(0, 1, 0), .Forward = Vec3Type(0, 0, 1) };
        }
 
        [[nodiscard]] JPL_INLINE static OrientationData<Vec3Type> IdentityForward() noexcept
        {
            return { .Up = Vec3Type(0, 1, 0), .Forward = Vec3Type(0, 0, -1) };
        }
 
        [[nodiscard]] JPL_INLINE Basis<Vec3Type> ToBasis() const noexcept
        {
            return Math::MakeBasis(-Forward, Up);
        }
 
        // Use this if Up and Forward are guaranteed to be orthogonal
        [[nodiscard]] JPL_INLINE Basis<Vec3Type> ToBasisUnsafe() const
        {
            const Vec3Type forward = -Forward;
            JPL_ASSERT(Math::IsNearlyZero(DotProduct(Up, forward)));
            return Basis<Vec3Type>{
                .X = CrossProduct(Up, forward),
                .Y = Up,
                .Z = forward
            };
        }
 
        [[nodiscard]] JPL_INLINE Quat<Vec3Type> ToQuat() const noexcept
        {
            return Math::QuatFromUpAndForward(Up, -Forward);
        }
    };
 
    template<CVec3 Vec3Type>
    struct Position
    {
        Vec3Type Location;
        OrientationData<Vec3Type> Orientation;
    };
 
    template<CVec3 Vec3Type>
    [[nodiscard]] JPL_INLINE bool operator==(const OrientationData<Vec3Type>& lhs, const OrientationData<Vec3Type>& rhs) noexcept
    {
        return lhs.Up== rhs.Up && lhs.Forward == rhs.Forward;
    }
 
    template<CVec3 Vec3Type>
    [[nodiscard]] JPL_INLINE bool operator==(const Position<Vec3Type>& lhs, const Position<Vec3Type>& rhs) noexcept
    {
        return lhs.Location == rhs.Location && lhs.Orientation == rhs.Orientation;
    }
} // namespace JPL