#pragma once

#ifndef QUATERNION_H
#define QUATERNION_H

#include "vector.h"
#include <stdbool.h>

typedef struct
{
	float x, y, z, w;
} Quaternion;

Quaternion QuatNormalize(const Quaternion* q, const float gain);
Quaternion QuatConjugate(const Quaternion* q);
Quaternion QuatInvert(const Quaternion* q);
Quaternion QuatNegate(const Quaternion* q);

Quaternion QuatSum(const Quaternion* q1, const Quaternion* q2);
Quaternion QuatDiff(const Quaternion* q1, const Quaternion* q2);
Quaternion QuatConstProd(const Quaternion* q, const float value);
Quaternion QuatProd(const Quaternion* q1, const Quaternion* q2);

Vector3 QuatRotateAroundZ(const Vector3* vec, bool CCW);
Quaternion QuatCreateRollPitchYaw(const Vector3* RollPitchYawRad);
Quaternion QuatGetError(const Quaternion* current, const Quaternion* target, bool fastWay);


#endif