libcruft-util/quaternion.cpp
2016-08-11 15:01:07 +10:00

156 lines
4.8 KiB
C++

/*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
* Copyright 2011 Danny Robson <danny@nerdcruft.net>
*/
#include "./quaternion.hpp"
#include "./debug.hpp"
#include "./maths.hpp"
#include "./vector.hpp"
#include <iostream>
//-----------------------------------------------------------------------------
using util::quaternion;
//-----------------------------------------------------------------------------
template<> const quaternion<4, float> quaternion<4, float>::IDENTITY = { 1, 0, 0, 0 };
template<> const quaternion<4, double> quaternion<4, double>::IDENTITY = { 1, 0, 0, 0 };
///////////////////////////////////////////////////////////////////////////////
template <size_t S, typename T>
quaternion<S,T>
quaternion<S,T>::rotation (const T radians, const vector<3,T> axis)
{
CHECK (is_normalised (axis));
auto w = std::cos (radians / 2);
auto xyz = std::sin (radians / 2) * axis;
return {
w, xyz.x, xyz.y, xyz.z
};
}
//-----------------------------------------------------------------------------
template <size_t S, typename T>
quaternion<S,T>
quaternion<S,T>::rotation (const vector<3,T> src, const vector<3,T> dst)
{
auto v = util::cross (src, dst);
return {
std::acos (dot (src, dst)),
v.x,
v.y,
v.z
};
}
///////////////////////////////////////////////////////////////////////////////
template <size_t S, typename T>
quaternion<S,T>
util::operator* (const quaternion<S,T> a, const quaternion<S,T> b)
{
return {
a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z,
a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x,
a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w,
};
}
template quaternion<4,float> util::operator* (quaternion<4,float>, quaternion<4,float>);
//-----------------------------------------------------------------------------
template <size_t S, typename T>
quaternion<S,T>
util::operator/ (const quaternion<S,T> a, const quaternion<S,T> b)
{
CHECK (is_normalised (a));
CHECK (is_normalised (b));
return quaternion<S,T> {
a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z,
- a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
- a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x,
- a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w,
};
}
template quaternion<4,float> util::operator/ (quaternion<4,float>, quaternion<4,float>);
///////////////////////////////////////////////////////////////////////////////
template <size_t S, typename T>
util::matrix4<T>
quaternion<S, T>::as_matrix (void) const
{
CHECK (is_normalised (*this));
const T wx = this->w * this->x, wy = this->w * this->y, wz = this->w * this->z;
const T xx = this->x * this->x, xy = this->x * this->y, xz = this->x * this->z;
const T yy = this->y * this->y, yz = this->y * this->z, zz = this->z * this->z;
return { {
{ 1 - 2 * (yy - zz), 2 * (xy - wz), 2 * (xz + wy), 0 },
{ 2 * (xy + wz), 1 - 2 * (xx - zz), 2 * (yz - wx), 0 },
{ 2 * (xz - wy), 2 * (yz + wx), 1 - 2 * (xx + yy), 0 },
{ 0, 0, 0, 1 }
} };
}
///////////////////////////////////////////////////////////////////////////////
template <size_t S, typename T>
std::ostream&
util::operator<< (std::ostream &os, const quaternion<S,T> q)
{
return os << "[" << q.w << ", " << q.x << ", " << q.y << ", " << q.z << "]";
}
//-----------------------------------------------------------------------------
template std::ostream& util::operator<< (std::ostream&, quaternion<4,float>);
template std::ostream& util::operator<< (std::ostream&, quaternion<4,double>);
///////////////////////////////////////////////////////////////////////////////
namespace util { namespace debug {
template <size_t S, typename T>
struct validator<quaternion<S,T>> {
static bool is_valid (const quaternion<S,T> &q)
{
return is_normalised (q);
}
};
} }
//-----------------------------------------------------------------------------
template bool util::debug::is_valid(const quaternion<4,float>&);
template bool util::debug::is_valid(const quaternion<4,double>&);
///////////////////////////////////////////////////////////////////////////////
template struct util::quaternion<4,float>;
template struct util::quaternion<4,double>;