Proper CRelAngle implementation

CMakeLists.txt

@@ -7,6 +7,7 @@ endif()
 include_directories(include ${ATHENA_INCLUDE_DIR})
 
 set(SOURCES
+    src/CAxisAngle.cpp
     src/CVector3f.cpp
     src/Math.cpp
     src/CQuaternion.cpp

include/zeus/CAxisAngle.hpp

@@ -12,12 +12,15 @@ struct alignas(16) CAxisAngle : CVector3f
     ZE_DECLARE_ALIGNED_ALLOCATOR();
 
     CAxisAngle() = default;
-    CAxisAngle(const CUnitVector3f& axis, float distance) : CVector3f(distance * axis) {}
+    CAxisAngle(float x, float y, float z) : CVector3f(x, y, z) {}
+    CAxisAngle(const CUnitVector3f& axis, float angle) : CVector3f(angle * axis) {}
 
     CAxisAngle(const CVector3f& axisAngle) : CVector3f(axisAngle) {}
 
-    float angle() { return magnitude(); }
+    float angle() const { return magnitude(); }
-    const CVector3f& getVector() { return *this; }
+    const CVector3f& getVector() const { return *this; }
+
+    static const CAxisAngle sIdentity;
 };
 }
 

include/zeus/CQuaternion.hpp

@@ -7,6 +7,7 @@
 #include "zeus/CVector4f.hpp"
 #include "zeus/CMatrix3f.hpp"
 #include "zeus/Math.hpp"
+#include "zeus/CRelAngle.hpp"
 #if ZE_ATHENA_TYPES
 #include <athena/IStreamReader.hpp>
 #endif
@@ -162,18 +163,16 @@ public:
      * @param angle The magnitude of the rotation in radians
      * @return
      */
-    static inline CQuaternion fromAxisAngle(const CVector3f& axis, float angle)
+    static inline CQuaternion fromAxisAngle(const CUnitVector3f& axis, const CRelAngle& angle)
     {
-        return CQuaternion(std::cos(angle / 2.f), axis * std::sin(angle / 2.f));
+        return CQuaternion(std::cos(angle.asRadians() / 2.f), axis * std::sin(angle.asRadians() / 2.f));
     }
 
-    void rotateX(float angle) { *this *= fromAxisAngle({1.0f, 0.0f, 0.0f}, angle); }
+    void rotateX(const CRelAngle& angle) { *this *= fromAxisAngle({1.0f, 0.0f, 0.0f}, angle); }
-    void rotateY(float angle) { *this *= fromAxisAngle({0.0f, 1.0f, 0.0f}, angle); }
+    void rotateY(const CRelAngle& angle) { *this *= fromAxisAngle({0.0f, 1.0f, 0.0f}, angle); }
-    void rotateZ(float angle) { *this *= fromAxisAngle({0.0f, 0.0f, 1.0f}, angle); }
+    void rotateZ(const CRelAngle& angle) { *this *= fromAxisAngle({0.0f, 0.0f, 1.0f}, angle); }
 
-    CAxisAngle toAxisAngle();
+    static inline CVector3f rotate(const CQuaternion& rotation, const CAxisAngle& v)
-
-    static inline CVector3f rotate(const CQuaternion& rotation, const CVector3f& v)
     {
         CQuaternion q = rotation * v;
         q *= rotation.inverse();

include/zeus/CRelAngle.hpp

@@ -7,23 +7,33 @@
 namespace zeus
 {
 /**
- * @brief The CRelAngle class represents relative angles in radians
+ * @brief The CRelAngle class represents relative angle in radians
  */
-class alignas(16) CRelAngle : public CVector3f
+struct CRelAngle
 {
-public:
+    float angle = 0.f;
-    /**
+
-     * @brief CRelAngle
+    CRelAngle() = default;
-     * @param angles In degrees
+    CRelAngle(float angle) : angle(angle) {}
-     */
+    float asDegrees() const { return radToDeg(angle); }
-    CRelAngle(const CVector3f& angles)
+    float asRadians() const { return angle; }
+    float arcCosine() const { return std::acos(angle); }
+
+    static CRelAngle FromDegrees(float angle)
     {
-        x = degToRad(angles.x);
+        CRelAngle ret;
-        y = degToRad(angles.y);
+        ret.angle = degToRad(angle);
-        z = degToRad(angles.z);
+        return ret;
     }
 
-    CRelAngle(float x, float y, float z) : CRelAngle(CVector3f{x, y, z}) {}
+    operator float() { return angle; }
+    static CRelAngle FromRadians(float angle) { return CRelAngle(angle); }
+
+    bool operator <(const CRelAngle& other) const { return angle < other.angle; }
+    CRelAngle& operator +=(const CRelAngle& other) { angle += other.angle; return *this; }
+    CRelAngle& operator +=(float r) { angle += r; return *this; }
+    CRelAngle& operator *=(const CRelAngle& other) { angle *= other.angle; return *this; }
+    CRelAngle& operator *=(float r) { angle *= r; return *this;}
 };
 }
 

include/zeus/CUnitVector.hpp

@@ -11,7 +11,7 @@ public:
     ZE_DECLARE_ALIGNED_ALLOCATOR();
 
     CUnitVector3f() : CVector3f(0, 1, 0) {}
-
+    CUnitVector3f(float x, float y, float z) : CVector3f(x, y, z) {}
     CUnitVector3f(const CVector3f& vec, bool doNormalize = false) : CVector3f(vec)
     {
         if (doNormalize && canBeNormalized())

src/CAxisAngle.cpp

@@ -0,0 +1,6 @@
+#include "zeus/CAxisAngle.hpp"
+
+namespace zeus
+{
+const CAxisAngle CAxisAngle::sIdentity = {};
+}

src/CQuaternion.cpp

@@ -120,23 +120,6 @@ void CQuaternion::invert()
 
 CQuaternion CQuaternion::inverse() const { return CQuaternion(w, -x, -y, -z); }
 
-CAxisAngle CQuaternion::toAxisAngle()
-{
-    //    CAxisAngle ret;
-    //    ret.angle = std::acos(r);
-
-    //    float thetaInv = 1.0f/std::sin(ret.angle);
-
-    //    ret.axis.x = v.x * thetaInv;
-    //    ret.axis.y = v.y * thetaInv;
-    //    ret.axis.z = v.z * thetaInv;
-
-    //    ret.angle *= 2.f;
-
-    //    return ret;
-    return CAxisAngle();
-}
-
 CQuaternion CQuaternion::log() const
 {
     float a = std::acos(w);