mirror of
https://github.com/yuzu-mirror/yuzu.git
synced 2024-09-07 17:29:08 +01:00
Common: add Quaternion
This commit is contained in:
parent
2e6d8e1321
commit
6479f63091
2 changed files with 45 additions and 0 deletions
|
@ -46,6 +46,7 @@ set(HEADERS
|
|||
microprofileui.h
|
||||
platform.h
|
||||
profiler_reporting.h
|
||||
quaternion.h
|
||||
scm_rev.h
|
||||
scope_exit.h
|
||||
string_util.h
|
||||
|
|
44
src/common/quaternion.h
Normal file
44
src/common/quaternion.h
Normal file
|
@ -0,0 +1,44 @@
|
|||
// Copyright 2016 Citra Emulator Project
|
||||
// Licensed under GPLv2 or any later version
|
||||
// Refer to the license.txt file included.
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "common/vector_math.h"
|
||||
|
||||
namespace Math {
|
||||
|
||||
template <typename T>
|
||||
class Quaternion {
|
||||
public:
|
||||
Math::Vec3<T> xyz;
|
||||
T w;
|
||||
|
||||
Quaternion<decltype(-T{})> Inverse() const {
|
||||
return {-xyz, w};
|
||||
}
|
||||
|
||||
Quaternion<decltype(T{} + T{})> operator+(const Quaternion& other) const {
|
||||
return {xyz + other.xyz, w + other.w};
|
||||
}
|
||||
|
||||
Quaternion<decltype(T{} - T{})> operator-(const Quaternion& other) const {
|
||||
return {xyz - other.xyz, w - other.w};
|
||||
}
|
||||
|
||||
Quaternion<decltype(T{} * T{} - T{} * T{})> operator*(const Quaternion& other) const {
|
||||
return {xyz * other.w + other.xyz * w + Cross(xyz, other.xyz),
|
||||
w * other.w - Dot(xyz, other.xyz)};
|
||||
}
|
||||
};
|
||||
|
||||
template <typename T>
|
||||
auto QuaternionRotate(const Quaternion<T>& q, const Math::Vec3<T>& v) {
|
||||
return v + 2 * Cross(q.xyz, Cross(q.xyz, v) + v * q.w);
|
||||
}
|
||||
|
||||
inline Quaternion<float> MakeQuaternion(const Math::Vec3<float>& axis, float angle) {
|
||||
return {axis * std::sin(angle / 2), std::cos(angle / 2)};
|
||||
}
|
||||
|
||||
} // namspace Math
|
Loading…
Reference in a new issue