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Additional quaternion functions

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This commit is contained in:
Jack Andersen
2017-07-13 19:12:21 -10:00
parent a8764732dc
commit 13949b249e
2 changed files with 44 additions and 4 deletions
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include/zeus/CQuaternion.hpp
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@@ -259,6 +259,9 @@ public:
static CQuaternion slerp(const CQuaternion& a, const CQuaternion& b, double t);
static CQuaternion slerpShort(const CQuaternion& a, const CQuaternion& b, double t);
static CQuaternion nlerp(const CQuaternion& a, const CQuaternion& b, double t);
static CQuaternion shortestRotationArc(const zeus::CVector3f& v0, const zeus::CVector3f& v1);
static CQuaternion clampedRotateTo(const zeus::CVector3f& v0, const zeus::CVector3f& v1,
const zeus::CRelAngle& angle);
inline float roll() const { return std::atan2(2.f * (x * y + w * z), w * w + x * x - y * y - z * z); }