mirror of https://github.com/AxioDL/zeus.git
119 lines
3.3 KiB
C++
119 lines
3.3 KiB
C++
#ifndef CQUATERNION_HPP
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#define CQUATERNION_HPP
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#include "Global.hpp"
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#include "CAxisAngle.hpp"
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#include "CVector3f.hpp"
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#include "CVector4f.hpp"
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#include <math.h>
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#if ZE_ATHENA_TYPES
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#include <Athena/IStreamReader.hpp>
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#endif
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namespace Zeus
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{
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class alignas(16) CQuaternion
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{
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public:
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ZE_DECLARE_ALIGNED_ALLOCATOR();
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CQuaternion() : r(1.0f) {}
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CQuaternion(float r, float x, float y, float z) : r(r), v(x, y, z){ this->r = r; }
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CQuaternion(float x, float y, float z) { fromVector3f(CVector3f(x, y, z)); }
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CQuaternion(float r, const CVector3f& vec) : v(vec){ this->r = r;}
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#if ZE_ATHENA_TYPES
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CQuaternion(Athena::io::IStreamReader& input) { r = input.readFloat(); v = CVector3f(input);}
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#endif
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CQuaternion(const CVector3f& vec) { fromVector3f(vec); }
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CQuaternion(const CVector4f& vec)
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{
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#if __SSE__
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v.mVec128 = vec.mVec128;
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#else
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v.x = vec.x; v.y = vec.y; v.z = vec.z; r = vec.w;
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#endif
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}
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virtual ~CQuaternion() {}
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void fromVector3f(const CVector3f& vec);
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CQuaternion& operator=(const CQuaternion& q);
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CQuaternion operator+(const CQuaternion& q) const;
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CQuaternion operator-(const CQuaternion& q) const;
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CQuaternion operator*(const CQuaternion& q) const;
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CQuaternion operator/(const CQuaternion& q) const;
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CQuaternion operator*(float scale) const;
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CQuaternion operator/(float scale) const;
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CQuaternion operator-() const;
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const CQuaternion& operator+=(const CQuaternion& q);
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const CQuaternion& operator-=(const CQuaternion& q);
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const CQuaternion& operator*=(const CQuaternion& q);
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const CQuaternion& operator*=(float scale);
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const CQuaternion& operator/=(float scale);
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float magnitude() const;
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float magSquared() const;
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void normalize();
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CQuaternion normalized() const;
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void invert();
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CQuaternion inverse() const;
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/**
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* @brief Set the rotation using axis angle notation
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* @param axis The axis to rotate around
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* @param angle The magnitude of the rotation in radians
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* @return
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*/
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static inline CQuaternion fromAxisAngle(const CVector3f& axis, float angle)
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{
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return CQuaternion(cosf(angle/2), axis*sinf(angle/2));
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}
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CAxisAngle toAxisAngle();
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static inline CVector3f rotate(const CQuaternion& rotation, const CVector3f& v)
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{
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CQuaternion q = rotation * v;
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q *= rotation.inverse();
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return q.v;
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}
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CQuaternion log() const;
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CQuaternion exp() const;
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float dot(const CQuaternion& quat);
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static CQuaternion lerp(CQuaternion& a, CQuaternion& b, double t);
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static CQuaternion slerp(CQuaternion& a, CQuaternion& b, double t);
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static CQuaternion nlerp(CQuaternion& a, CQuaternion& b, double t);
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inline float roll() const
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{
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return atan2f(2.0 * (v.x * v.y + r * v.z), r * r + v.x * v.x - v.y * v.y - v.z * v.z);
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}
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inline float pitch() const
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{
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return atan2f(2.0 * (v.y * v.z + r * v.x), r * r - v.x * v.x - v.y * v.y + v.z * v.z);
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}
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inline float yaw() const
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{
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return asinf(-2.0 * (v.x * v.z - r * v.y));
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}
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union
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{
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struct { float x, y, z, r; };
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CVector3f v;
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};
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};
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CQuaternion operator+(float lhs, const CQuaternion& rhs);
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CQuaternion operator-(float lhs, const CQuaternion& rhs);
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CQuaternion operator*(float lhs, const CQuaternion& rhs);
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}
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#endif // CQUATERNION_HPP
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