Add circular arc and spiral curves

1 files changed, 38 insertions, 0 deletions

diff --git a/quat.cpp b/quat.cpp
new file mode 100644
index 0000000..aa53af6
--- /dev/null
+++ b/quat.cpp
@@ -0,0 +1,38 @@
+#include "quat.h"
+#include <cmath>
+
+quat::quat(double w_, double x_, double y_, double z_) : w(w_), x(x_), y(y_), z(z_) { }
+quat::quat(double x_, double y_, double z_) : w(0), x(x_), y(y_), z(z_) { }
+quat::quat(double w_, vec3 vec) : w(w_), x(vec[0]), y(vec[1]), z(vec[2]) { }
+quat::quat(vec3 vec) : w(0), x(vec[0]), y(vec[1]), z(vec[2]) { }
+quat::quat() : w(0), x(0), y(0), z(0) { }
+
+quat::operator vec3()
+{
+    return vec3(this->x, this->y, this->z);
+}
+
+quat operator*(const quat &lhs, const quat &rhs)
+{
+    return quat(lhs.w * rhs.w - lhs.x * rhs.x - lhs.y * rhs.y - lhs.z * rhs.z,
+                lhs.w * rhs.x + lhs.x * rhs.w + lhs.y * rhs.z - lhs.z * rhs.y,
+                lhs.w * rhs.y - lhs.x * rhs.z + lhs.y * rhs.w + lhs.z * rhs.x,
+                lhs.w * rhs.z + lhs.x * rhs.y - lhs.y * rhs.x + lhs.z * rhs.w);
+}
+
+quat quat::conjugate() const
+{
+    return quat(this->w, -this->x, -this->y, -this->z);
+}
+
+quat quat::from_angleaxis(double angle, vec3 axis)
+{
+    double si = std::sin(angle / 2);
+    double co = std::cos(angle / 2);
+    return quat(co, si * axis[0], si * axis[1], si * axis[2]);
+}
+
+std::ostream &operator<<(std::ostream &os, const quat &q)
+{
+    return os << "(" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << ")";
+}