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Common: add Quaternion

This commit is contained in:
wwylele 2016-12-11 23:32:01 +02:00
parent 2e6d8e1321
commit 6479f63091
2 changed files with 45 additions and 0 deletions

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@ -46,6 +46,7 @@ set(HEADERS
microprofileui.h
platform.h
profiler_reporting.h
quaternion.h
scm_rev.h
scope_exit.h
string_util.h

44
src/common/quaternion.h Normal file
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@ -0,0 +1,44 @@
// Copyright 2016 Citra Emulator Project
// Licensed under GPLv2 or any later version
// Refer to the license.txt file included.
#pragma once
#include "common/vector_math.h"
namespace Math {
template <typename T>
class Quaternion {
public:
Math::Vec3<T> xyz;
T w;
Quaternion<decltype(-T{})> Inverse() const {
return {-xyz, w};
}
Quaternion<decltype(T{} + T{})> operator+(const Quaternion& other) const {
return {xyz + other.xyz, w + other.w};
}
Quaternion<decltype(T{} - T{})> operator-(const Quaternion& other) const {
return {xyz - other.xyz, w - other.w};
}
Quaternion<decltype(T{} * T{} - T{} * T{})> operator*(const Quaternion& other) const {
return {xyz * other.w + other.xyz * w + Cross(xyz, other.xyz),
w * other.w - Dot(xyz, other.xyz)};
}
};
template <typename T>
auto QuaternionRotate(const Quaternion<T>& q, const Math::Vec3<T>& v) {
return v + 2 * Cross(q.xyz, Cross(q.xyz, v) + v * q.w);
}
inline Quaternion<float> MakeQuaternion(const Math::Vec3<float>& axis, float angle) {
return {axis * std::sin(angle / 2), std::cos(angle / 2)};
}
} // namspace Math