From 31539f3af0c7beea865b29fdda0840c79f14710e Mon Sep 17 00:00:00 2001 From: Franklin Wei Date: Thu, 7 Mar 2019 19:14:35 -0500 Subject: Import from fieldviz --- src/quat.cpp | 42 ++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 42 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..dfb2823 --- /dev/null +++ b/src/quat.cpp @@ -0,0 +1,42 @@ +#include +#include + +using namespace fml; + +namespace fml { + 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