76 lines
2.2 KiB
C++
76 lines
2.2 KiB
C++
/*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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* Copyright 2011 Danny Robson <danny@nerdcruft.net>
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*/
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#include "quaternion.hpp"
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//-----------------------------------------------------------------------------
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using util::quaternion;
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//-----------------------------------------------------------------------------
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template<> const quaternion<float> quaternion<float>::IDENTITY = { 1, 0, 0, 0 };
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template<> const quaternion<double> quaternion<double>::IDENTITY = { 1, 0, 0, 0 };
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//-----------------------------------------------------------------------------
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template <typename T>
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quaternion<T>
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quaternion<T>::rotation (T radians, vector<3,T> axis) {
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radians /= T{2};
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axis.normalise ();
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return {
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std::cos (radians),
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axis.x * std::sin (radians),
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axis.y * std::sin (radians),
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axis.z * std::sin (radians)
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};
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}
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//-----------------------------------------------------------------------------
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template <typename T>
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quaternion<T>
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quaternion<T>::rotation (vector<3,T> from, vector<3,T> to) {
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auto v = util::cross (from, to);
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return {
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std::acos (dot (from, to)),
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v.x,
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v.y,
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v.z
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};
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}
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//-----------------------------------------------------------------------------
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template <typename T>
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quaternion<T>
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quaternion<T>::operator* (const quaternion<T> &rhs) const {
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return {
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w * rhs.w - (x * rhs.x + y * rhs.y + z * rhs.z),
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w * rhs.x + rhs.w * x + y * rhs.z - z * rhs.y,
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w * rhs.y + rhs.w * y + z * rhs.x - x * rhs.z,
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w * rhs.z + rhs.w * z + x * rhs.y - y * rhs.x
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};
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}
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//-----------------------------------------------------------------------------
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template struct util::quaternion<float>;
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template struct util::quaternion<double>;
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