Merge branch 'quaternions'

Author: HexagonNico

.editorconfig

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+[*.scala]
+indent_style = space
+indent_size = 2
+
+[*.java]
+indent_style = space
+indent_size = 4

src/main/scala/io/github/hexagonnico/vecmatlib/quaternion/Quaternion.scala

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+package io.github.hexagonnico.vecmatlib.quaternion
+
+import io.github.hexagonnico.vecmatlib.vector.VecAbstract
+
+/**
+ * Abstract class with quaternion operations.
+ *
+ * @tparam Q The quaternion class extending this one
+ */
+abstract class Quaternion[Q <: Quaternion[Q, V], V <: VecAbstract[V]] {
+
+  /**
+   * Returns the sum between this quaternion and the given one.
+   *
+   * @param q The quaternion to add
+   * @return The sum of this quaternion and the given one
+   */
+  def +(q: Q): Q
+
+  /**
+   * Returns the sum between this quaternion and the given one.
+   *
+   * This method can be used in place of the '+' operator for better interoperability with Java.
+   *
+   * @param q The quaternion to add
+   * @return The sum of this quaternion and the given one
+   */
+  def plus(q: Q): Q = this + q
+
+  /**
+   * Returns the additive inverse of this quaternion.
+   *
+   * @return The additive inverse of this quaternion
+   */
+  def unary_-(): Q
+
+  /**
+   * Returns the additive inverse of this quaternion.
+   *
+   * This method can be used in place of the unary '-' operator for better interoperability with Java.
+   *
+   * @return The additive inverse of this quaternion
+   */
+  def negated: Q = -this
+
+  /**
+   * Returns the subtraction between the given quaternion and this one.
+   *
+   * @param q The quaternion to subtract
+   * @return The subtraction of the given quaternion from this one
+   */
+  def -(q: Q): Q = this + (-q)
+
+  /**
+   * Returns the subtraction between the given quaternion and this one.
+   *
+   * This method can be used in place of the '-' operator for better interoperability with Java.
+   *
+   * @param q The quaternion to subtract
+   * @return The subtraction of the given quaternion from this one
+   */
+  def minus(q: Q): Q = this - q
+
+  /**
+   * Returns the product between this quaternion and the given one as defined by the Hamilton product.
+   *
+   * @param q The second operand of the multiplication
+   * @return The product between this quaternion and the given one
+   */
+  def *(q: Q): Q
+
+  /**
+   * Returns the product between this quaternion and the given one as defined by the Hamilton product.
+   *
+   * This method can be used in place of the '*' operator for better interoperability with Java.
+   *
+   * @param q The second operand of the multiplication
+   * @return The product between this quaternion and the given one
+   */
+  def multiply(q: Q): Q = this * q
+
+  /**
+   * Returns the conjugate of this quaternion.
+   * The conjugate of a quaternion `w + xi + yj + zk` is the quaternion `w - xi - yj - zk`.
+   *
+   * @return The conjugate of this quaternion
+   */
+  def conjugate: Q
+
+  /**
+   * Returns the length (or norm) of this quaternion.
+   *
+   * @return The norm of this quaternion
+   */
+  def length: Double
+
+  /**
+   * Returns this quaternion as a unit quaternion.
+   * That is, this quaternion divided by its norm or [[length]].
+   *
+   * @return This quaternion as a unit quaternion
+   */
+  def normalized: Q
+
+  /**
+   * Returns the multiplicative inverse of this quaternion.
+   *
+   * The same quaternion can be obtained with `1.0 / q`.
+   *
+   * @return The inverse of this quaternion
+   */
+  def inverse: Q
+
+  /**
+   * Returns the product of this quaternion by the [[inverse]] of the given one.
+   *
+   * @param q The second operand of the division
+   * @return The product of this quaternion by the inverse of the given one
+   */
+  def /(q: Q): Q = this * q.inverse
+
+  /**
+   * Returns the product of this quaternion by the [[inverse]] of the given one.
+   *
+   * This method can be used in place of the '/' operator for better interoperability with Java.
+   *
+   * @param q The second operand of the division
+   * @return The product of this quaternion by the inverse of the given one
+   */
+  def divide(q: Q): Q = this / q
+
+  /**
+   * Returns the exponential of this quaternion.
+   *
+   * @return The exponential of this quaternion
+   */
+  def exp: Q
+
+  /**
+   * Returns the logarithm of this quaternion.
+   *
+   * @return The logarithm of this quaternion
+   */
+  def log: Q
+
+  /**
+   * Returns this quaternion's rotation in the form of euler angles.
+   *
+   * The result is undefined if this quaternion is not [[normalized]].
+   *
+   * @return This quaternion's rotation in the form of euler angles
+   */
+  def euler: V
+
+  /**
+   * Returns the angle of the rotation represented by this unit quaternion.
+   *
+   * The result is undefined if this quaternion is not [[normalized]].
+   *
+   * @return The angle of the rotation represented by this unit quaternion
+   */
+  def angle: Double
+
+  /**
+   * Returns the vector part of this quaternion.
+   * The vector part of a quaternion `w + xi + yj + zk` is the vector `(x, y, z)`.
+   *
+   * Normalize this vector to get the rotation axis of the quaternion.
+   *
+   * @return
+   */
+  def vector: V
+
+  /**
+   * Returns that is, this quaternion divided by its norm or [[length]].
+   *
+   * @return A unit quaternion
+   */
+  def slerp(to: Q, weight: Double): Q
+}