91 lines
2.2 KiB
C++
91 lines
2.2 KiB
C++
#pragma once
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// TODO: actually implement this
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class CQuaternion
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{
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public:
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float x, y, z, w;
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CQuaternion(void) {}
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CQuaternion(float x, float y, float z, float w) : x(x), y(y), z(z), w(w) {}
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float Magnitude(void) const { return Sqrt(x*x + y*y + z*z + w*w); }
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float MagnitudeSqr(void) const { return x*x + y*y + z*z + w*w; }
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void Normalise(void);
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void Multiply(const CQuaternion &q1, const CQuaternion &q2);
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const CQuaternion &operator+=(CQuaternion const &right) {
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x += right.x;
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y += right.y;
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z += right.z;
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w += right.w;
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return *this;
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}
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const CQuaternion &operator-=(CQuaternion const &right) {
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x -= right.x;
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y -= right.y;
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z -= right.z;
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w -= right.w;
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return *this;
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}
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const CQuaternion &operator*=(float right) {
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x *= right;
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y *= right;
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z *= right;
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w *= right;
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return *this;
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}
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const CQuaternion &operator/=(float right) {
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x /= right;
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y /= right;
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z /= right;
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w /= right;
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return *this;
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}
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CQuaternion operator-() const {
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return CQuaternion(-x, -y, -z, -w);
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}
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void Slerp(const CQuaternion &q1, const CQuaternion &q2, float theta, float invSin, float t);
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void Get(RwV3d *axis, float *angle);
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void Set(RwV3d *axis, float angle);
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void Get(RwMatrix *matrix);
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void Set(const RwMatrix &matrix);
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void Set(float f1, float f2, float f3);
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void Get(float *f1, float *f2, float *f3);
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};
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inline float
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DotProduct(const CQuaternion &q1, const CQuaternion &q2)
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{
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return q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
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}
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inline CQuaternion operator+(const CQuaternion &left, const CQuaternion &right)
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{
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return CQuaternion(left.x + right.x, left.y + right.y, left.z + right.z, left.w + right.w);
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}
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inline CQuaternion operator-(const CQuaternion &left, const CQuaternion &right)
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{
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return CQuaternion(left.x - right.x, left.y - right.y, left.z - right.z, left.w - right.w);
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}
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inline CQuaternion operator*(const CQuaternion &left, float right)
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{
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return CQuaternion(left.x * right, left.y * right, left.z * right, left.w * right);
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}
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inline CQuaternion operator*(float left, const CQuaternion &right)
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{
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return CQuaternion(left * right.x, left * right.y, left * right.z, left * right.w);
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}
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inline CQuaternion operator/(const CQuaternion &left, float right)
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{
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return CQuaternion(left.x / right, left.y / right, left.z / right, left.w / right);
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}
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