From 291bd26fd8920831181e8207e1fcdf544cd6cd6f Mon Sep 17 00:00:00 2001 From: Franklin Wei Date: Mon, 11 Feb 2019 12:52:45 -0500 Subject: Reorganize, use readline --- src/quat.cpp | 38 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 38 insertions(+) create mode 100644 src/quat.cpp (limited to 'src/quat.cpp') diff --git a/src/quat.cpp b/src/quat.cpp new file mode 100644 index 0000000..df117d0 --- /dev/null +++ b/src/quat.cpp @@ -0,0 +1,38 @@ +#include "quat.h" +#include + +quat::quat(scalar w_, scalar x_, scalar y_, scalar z_) : w(w_), x(x_), y(y_), z(z_) { } +quat::quat(scalar x_, scalar y_, scalar z_) : w(0), x(x_), y(y_), z(z_) { } +quat::quat(scalar 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(scalar angle, vec3 axis) +{ + scalar si = std::sin(angle / 2); + scalar 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 << ")"; +} -- cgit v1.1