Math: add Quaternion::xyzw() and wxyz().

doc/changelog.dox

@@ -285,6 +285,8 @@ See also:
     @ref Math::Quaternion::reflectVector(), but mainly just for documentation
     purposes as reflections cannot be combined with rotations and thus are
     mostly useless in practice
+-   Added @ref Math::Quaternion::xyzw() and @ref Math::Quaternion::wxyz()
+    helpers for converting to a @ref Vector4 in chosen component order
 -   New @ref Magnum/Math/ColorBatch.h header with utilities for performing Y
     flip of various block-compressed formats
 -   New @ref Math::Nanoseconds and @ref Math::Seconds classes for strongly

src/Magnum/Math/Complex.h

@@ -257,7 +257,8 @@ template<class T> class Complex {
          * @f[
          *      \boldsymbol v = \begin{pmatrix} a \\ b \end{pmatrix}
          * @f]
-         * @see @ref Complex(const Vector2<T>&)
+         * @see @ref Complex(const Vector2<T>&), @ref Quaternion::xyzw(),
+         *      @ref Quaternion::wxyz()
          */
         constexpr explicit operator Vector2<T>() const {
             return {_real, _imaginary};

src/Magnum/Math/Quaternion.h

@@ -469,16 +469,50 @@ template<class T> class Quaternion {
             return Implementation::isNormalizedSquared(dot());
         }
 
-        /** @brief Vector part (@f$ \boldsymbol{q}_V @f$) */
+        /**
+         * @brief Vector part (@f$ \boldsymbol{q}_V @f$)
+         *
+         * @see @ref xyzw(), @ref wxyz()
+         */
         Vector3<T>& vector() { return _vector; }
         /* Returning const so it's possible to call constexpr functions on the
            result. WTF, C++?! */
         constexpr const Vector3<T> vector() const { return _vector; } /**< @overload */
 
-        /** @brief Scalar part (@f$ q_S @f$) */
+        /**
+         * @brief Scalar part (@f$ q_S @f$)
+         *
+         * @see @ref xyzw(), @ref wxyz()
+         */
         T& scalar() { return _scalar; }
         constexpr T scalar() const { return _scalar; } /**< @overload */
 
+        /**
+         * @brief Quaternion components in a XYZW order
+         * @m_since_latest
+         *
+         * Returns a four-component vector containing @ref vector() in the XYZ
+         * components and @ref scalar() in W: @f[
+         *      v = [q_{V_x}, q_{V_y}, q_{V_z}, s]
+         * @f]
+         * @see @ref Complex::operator Vector2<T>()
+         */
+        constexpr Vector4<T> xyzw() const { return {_vector, _scalar}; }
+
+        /**
+         * @brief Quaternion components in a WXYZ order
+         * @m_since_latest
+         *
+         * Returns a four-component vector containing @ref scalar() in the X
+         * component and @ref vector() in YZW: @f[
+         *      v = [s, q_{V_x}, q_{V_y}, q_{V_z}]
+         * @f]
+         * @see @ref Complex::operator Vector2<T>()
+         */
+        constexpr Vector4<T> wxyz() const {
+            return {_scalar, _vector.x(), _vector.y(), _vector.z()};
+        }
+
         /**
          * @brief Rotation angle of a unit quaternion
          *

src/Magnum/Math/Test/QuaternionTest.cpp

@@ -339,24 +339,31 @@ void QuaternionTest::convert() {
 }
 
 void QuaternionTest::data() {
+    Quaternion a{{1.0f, 2.0f, 3.0f}, -4.0f};
+    CORRADE_COMPARE(a.vector(), (Vector3{1.0f, 2.0f, 3.0f}));
+    CORRADE_COMPARE(a.scalar(), -4.0f);
+    CORRADE_COMPARE(a.xyzw(), (Vector4{1.0f, 2.0f, 3.0f, -4.0f}));
+    CORRADE_COMPARE(a.wxyz(), (Vector4{-4.0f, 1.0f, 2.0f, 3.0f}));
+
+    a.vector().y() = 4.3f;
+    a.scalar() = 1.1f;
+    CORRADE_COMPARE(a, (Quaternion{{1.0f, 4.3f, 3.0f}, 1.1f}));
+    CORRADE_COMPARE(a.data()[3], 1.1f);
+    CORRADE_COMPARE(Containers::arraySize(a.data()), 4);
+
     constexpr Quaternion ca{{1.0f, 2.0f, 3.0f}, -4.0f};
     constexpr Vector3 vector = ca.vector();
     constexpr Float scalar = ca.scalar();
+    constexpr Vector4 xyzw = ca.xyzw();
+    constexpr Vector4 wxyz = ca.wxyz();
     CORRADE_COMPARE(vector, (Vector3{1.0f, 2.0f, 3.0f}));
     CORRADE_COMPARE(scalar, -4.0f);
-
-    Quaternion a{{1.0f, 2.0f, 3.0f}, -4.0f};
-    a.vector().y() = 4.3f;
-    a.scalar() = 1.1f;
-    CORRADE_COMPARE(a, (Quaternion{{1.0f, 4.3f, 3.0f}, 1.1f}));
+    CORRADE_COMPARE(xyzw, (Vector4{1.0f, 2.0f, 3.0f, -4.0f}));
+    CORRADE_COMPARE(wxyz, (Vector4{-4.0f, 1.0f, 2.0f, 3.0f}));
 
     /* Not constexpr anymore, as it has to reinterpret to return a
        correctly-sized array */
-    CORRADE_COMPARE(a.data()[3], 1.1f);
     CORRADE_COMPARE(ca.data()[1], 2.0f);
-
-    /* It actually returns an array */
-    CORRADE_COMPARE(Containers::arraySize(a.data()), 4);
     CORRADE_COMPARE(Containers::arraySize(ca.data()), 4);
 }