mirror of https://github.com/PrimeDecomp/prime.git
84 lines
2.8 KiB
C++
84 lines
2.8 KiB
C++
#ifndef _CQUATERNION
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#define _CQUATERNION
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#include "types.h"
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#include "Kyoto/Math/CMatrix3f.hpp"
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#include "Kyoto/Math/CTransform4f.hpp"
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class CRelAngle;
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class CUnitVector3f;
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class CNUQuaternion;
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class CQuaternion {
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public:
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CQuaternion(float w, float x, float y, float z) : w(w), imaginary(x, y, z) {}
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CQuaternion(float w, const CVector3f& imaginary) : w(w), imaginary(imaginary) {}
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// CQuaternion(const CQuaternion& other)
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// : w(other.w)
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// , x(other.x)
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// , y(other.y)
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// , z(other.z) {}
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// CQuaternion& operator=(const CQuaternion& other) {
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// w = other.w;
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// x = other.x;
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// y = other.y;
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// z = other.z;
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// }
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CQuaternion operator*(const CQuaternion&) const;
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// __amu__11CQuaternionFRC11CQuaternion
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// ScalarVector__11CQuaternionFfRC9CVector3f
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// Slerp__11CQuaternionFRC11CQuaternionRC11CQuaternionf
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// ShortestRotationArc__11CQuaternionFRC9CVector3fRC9CVector3f
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// LookAt__11CQuaternionFRC13CUnitVector3fRC13CUnitVector3fRC9CRelAngle
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static CQuaternion LookAt(const CUnitVector3f&, const CUnitVector3f&, const CRelAngle&);
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// normalize_angle__Ff
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// IsValidQuaternion__11CQuaternionCFf
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static CQuaternion SlerpLocal(const CQuaternion& from, const CQuaternion& to, float t);
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// AngleFrom__11CQuaternionCFRC11CQuaternion
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// BuildEquivalent__11CQuaternionCFv
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// BuildNormalized__11CQuaternionCFv
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static CQuaternion AxisAngle(const CUnitVector3f&, const CRelAngle&);
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CVector3f Transform(const CVector3f&) const;
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static CQuaternion XRotation(const CRelAngle&);
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static CQuaternion YRotation(const CRelAngle&);
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static CQuaternion ZRotation(const CRelAngle&);
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CMatrix3f BuildTransform() const;
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CTransform4f BuildTransform4f() const;
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CTransform4f BuildTransform4f(const CVector3f&) const;
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CQuaternion BuildInverted() const {
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// double w = this->w;
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// double x = -this->x;
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// double y = -this->y;
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// double z = -this->z;
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return CQuaternion(w, -imaginary.GetX(), -imaginary.GetY(), -imaginary.GetZ());
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}
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static CQuaternion FromMatrixRows(const CVector3f&, const CVector3f&, const CVector3f&);
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static CQuaternion FromMatrix(const CMatrix3f&);
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static CQuaternion FromMatrix(const CTransform4f&);
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static CQuaternion FromNUQuaternion(const CNUQuaternion&);
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static const CQuaternion& NoRotation() { return sNoRotation; }
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static float Dot(const CQuaternion& a, const CQuaternion& b) {
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return (a.GetW() * b.GetW()) + (a.GetX() * b.GetX()) + (a.GetY() * b.GetY()) + (a.GetZ() * b.GetZ());
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}
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float GetW() const { return w; }
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float GetX() const { return imaginary.GetX(); }
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float GetY() const { return imaginary.GetY(); }
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float GetZ() const { return imaginary.GetZ(); }
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const CVector3f& GetImaginary() const { return imaginary; }
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private:
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float w;
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CVector3f imaginary;
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static const CQuaternion sNoRotation;
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};
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#endif // _CQUATERNION
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