QCalulations.ts

import { TSMT$Quaternion } from './Quaternion';
import { Q              } from '../definitions/Q';

export class QCalculations
{
  protected static readonly Q1: TSMT$Quaternion = new TSMT$Quaternion();
  protected static readonly Q2: TSMT$Quaternion = new TSMT$Quaternion();

  constructor()
  {
    // empty
  }

  /**
   * Add two quaternions
   *
   * @param q1 4-tuple representing first input quaternion
   *
   * @param q2 4=tuple representing second input quaternion
   */
  public static add(q1: Q, q2: Q): Q
  {
    QCalculations.Q1.fromArray(q1.w, q1.i, q1.j, q1.k);
    QCalculations.Q2.fromArray(q2.w, q2.i, q2.j, q2.k);

    QCalculations.Q1.add(QCalculations.Q2);

    const values: Array<number> = QCalculations.Q1.toArray();

    return new Q(values[0], values[1], values[2], values[3]);
  }

  /**
   * Subtract two quaternions
   *
   * @param q1 4-tuple representing first input quaternion
   *
   * @param q2 4=tuple representing second input quaternion
   */
  public static subtract(q1: Q, q2: Q): Q
  {
    QCalculations.Q1.fromArray(q1.w, q1.i, q1.j, q1.k);
    QCalculations.Q2.fromArray(q2.w, q2.i, q2.j, q2.k);

    QCalculations.Q1.subtract(QCalculations.Q2);

    const values: Array<number> = QCalculations.Q1.toArray();

    return new Q(values[0], values[1], values[2], values[3]);
  }

  /**
   * Mutiply two quaternions
   *
   * @param q1 4-tuple representing first input quaternion
   *
   * @param q2 4=tuple representing second input quaternion
   */
  public static multiply(q1: Q, q2: Q): Q
  {
    QCalculations.Q1.fromArray(q1.w, q1.i, q1.j, q1.k);
    QCalculations.Q2.fromArray(q2.w, q2.i, q2.j, q2.k);

    QCalculations.Q1.multiply(QCalculations.Q2);

    const values: Array<number> = QCalculations.Q1.toArray();

    return new Q(values[0], values[1], values[2], values[3]);
  }

  /**
   * Divide two quaternions
   *
   * @param q1 4-tuple representing first input quaternion
   *
   * @param q2 4=tuple representing second input quaternion
   */
  public static divide(q1: Q, q2: Q): Q
  {
    QCalculations.Q1.fromArray(q1.w, q1.i, q1.j, q1.k);
    QCalculations.Q2.fromArray(q2.w, q2.i, q2.j, q2.k);

    QCalculations.Q1.divide(QCalculations.Q2);

    const values: Array<number> = QCalculations.Q1.toArray();

    return new Q(values[0], values[1], values[2], values[3]);
  }
}