From 6479f63091da35b1ac6f3930532cc8bde466f6c4 Mon Sep 17 00:00:00 2001 From: wwylele Date: Sun, 11 Dec 2016 23:32:01 +0200 Subject: [PATCH] Common: add Quaternion --- src/common/CMakeLists.txt | 1 + src/common/quaternion.h | 44 +++++++++++++++++++++++++++++++++++++++ 2 files changed, 45 insertions(+) create mode 100644 src/common/quaternion.h diff --git a/src/common/CMakeLists.txt b/src/common/CMakeLists.txt index 5aecf6e6e7..a7a4a688cf 100644 --- a/src/common/CMakeLists.txt +++ b/src/common/CMakeLists.txt @@ -46,6 +46,7 @@ set(HEADERS microprofileui.h platform.h profiler_reporting.h + quaternion.h scm_rev.h scope_exit.h string_util.h diff --git a/src/common/quaternion.h b/src/common/quaternion.h new file mode 100644 index 0000000000..84ac82ed36 --- /dev/null +++ b/src/common/quaternion.h @@ -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 +class Quaternion { +public: + Math::Vec3 xyz; + T w; + + Quaternion Inverse() const { + return {-xyz, w}; + } + + Quaternion operator+(const Quaternion& other) const { + return {xyz + other.xyz, w + other.w}; + } + + Quaternion operator-(const Quaternion& other) const { + return {xyz - other.xyz, w - other.w}; + } + + Quaternion operator*(const Quaternion& other) const { + return {xyz * other.w + other.xyz * w + Cross(xyz, other.xyz), + w * other.w - Dot(xyz, other.xyz)}; + } +}; + +template +auto QuaternionRotate(const Quaternion& q, const Math::Vec3& v) { + return v + 2 * Cross(q.xyz, Cross(q.xyz, v) + v * q.w); +} + +inline Quaternion MakeQuaternion(const Math::Vec3& axis, float angle) { + return {axis * std::sin(angle / 2), std::cos(angle / 2)}; +} + +} // namspace Math