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Add CEulerAngles representation

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This commit is contained in:
Jack Andersen
2017-03-19 19:06:53 -10:00
parent 8603353cf7
commit c50a319a39
5 changed files with 94 additions and 5 deletions
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11
src/CQuaternion.cpp
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@@ -170,8 +170,6 @@ CQuaternion CQuaternion::exp() const
return ret;
}
float CQuaternion::dot(const CQuaternion& b) const { return x * b.x + y * b.y + z * b.z + w * b.w; }
CQuaternion CQuaternion::lerp(const CQuaternion& a, const CQuaternion& b, double t) { return (a + t * (b - a)); }
CQuaternion CQuaternion::nlerp(const CQuaternion& a, const CQuaternion& b, double t) { return lerp(a, b, t).normalized(); }
@@ -222,4 +220,13 @@ CQuaternion operator*(float lhs, const CQuaternion& rhs)
{
return CQuaternion(lhs * rhs.w, lhs * rhs.x, lhs * rhs.y, lhs * rhs.z);
}
CQuaternion CQuaternion::buildEquivalent() const
{
float tmp = std::acos(clamp(-1.f, w, 1.f)) * 2.0;
if (std::fabs(tmp) < 1.0e-7)
return {-1.f, 0.f, 0.f, 0.f};
else
return CQuaternion::fromAxisAngle(CUnitVector3f(x, y, z), tmp + 2.0 * M_PI);
}
}