123 lines
4.1 KiB
C++
123 lines
4.1 KiB
C++
//
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// Quaternion.h
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// Kraken Engine / Hydra
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//
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// Copyright 2022 Kearwood Gilbert. All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without modification, are
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// permitted provided that the following conditions are met:
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//
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// 1. Redistributions of source code must retain the above copyright notice, this list of
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// conditions and the following disclaimer.
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//
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// 2. Redistributions in binary form must reproduce the above copyright notice, this list
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// of conditions and the following disclaimer in the documentation and/or other materials
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// provided with the distribution.
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//
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// THIS SOFTWARE IS PROVIDED BY KEARWOOD GILBERT ''AS IS'' AND ANY EXPRESS OR IMPLIED
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// WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
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// FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL KEARWOOD GILBERT OR
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// CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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// SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON
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// ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
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// NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF
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// ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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//
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// The views and conclusions contained in the software and documentation are those of the
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// authors and should not be interpreted as representing official policies, either expressed
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// or implied, of Kearwood Gilbert.
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//
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#ifndef KRAKEN_QUATERNION_H
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#define KRAKEN_QUATERNION_H
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#include "vector3.h"
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namespace kraken {
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class Quaternion
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{
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public:
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union
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{
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struct
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{
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float w, x, y, z;
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};
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float c[4];
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};
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void init();
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void init(float w, float x, float y, float z);
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void init(const Quaternion& p);
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void init(const Vector3& euler);
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void init(const Vector3& from_vector, const Vector3& to_vector);
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static Quaternion Create();
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static Quaternion Create(float w, float x, float y, float z);
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static Quaternion Create(const Quaternion& p);
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static Quaternion Create(const Vector3& euler);
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static Quaternion Create(const Vector3& from_vector, const Vector3& to_vector);
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Quaternion operator +(const Quaternion& v) const;
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Quaternion operator -(const Quaternion& v) const;
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Quaternion operator +() const;
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Quaternion operator -() const;
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Quaternion operator *(const Quaternion& v);
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Quaternion operator *(float num) const;
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Quaternion operator /(float num) const;
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Quaternion& operator +=(const Quaternion& v);
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Quaternion& operator -=(const Quaternion& v);
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Quaternion& operator *=(const Quaternion& v);
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Quaternion& operator *=(const float& v);
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Quaternion& operator /=(const float& v);
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friend bool operator ==(Quaternion& v1, Quaternion& v2);
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friend bool operator !=(Quaternion& v1, Quaternion& v2);
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float& operator [](unsigned i);
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float operator [](unsigned i) const;
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void setEulerXYZ(const Vector3& euler);
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void setEulerZYX(const Vector3& euler);
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Vector3 eulerXYZ() const;
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Matrix4 rotationMatrix() const;
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void normalize();
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static Quaternion Normalize(const Quaternion& v1);
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void conjugate();
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static Quaternion Conjugate(const Quaternion& v1);
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void invert();
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static Quaternion Invert(const Quaternion& v1);
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static Quaternion FromAngleAxis(const Vector3& axis, float angle);
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static Quaternion FromRotationMatrix(const Matrix4& m);
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static Quaternion Lerp(const Quaternion& a, const Quaternion& b, float t);
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static Quaternion Slerp(const Quaternion& a, const Quaternion& b, float t);
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static float Dot(const Quaternion& v1, const Quaternion& v2);
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};
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static_assert(std::is_pod<Quaternion>::value, "kraken::Quaternion must be a POD type.");
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} // namespace kraken
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namespace std {
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template<>
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struct hash<kraken::Quaternion>
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{
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public:
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size_t operator()(const kraken::Quaternion& s) const
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{
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size_t h1 = hash<float>()(s.c[0]);
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size_t h2 = hash<float>()(s.c[1]);
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size_t h3 = hash<float>()(s.c[2]);
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size_t h4 = hash<float>()(s.c[3]);
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return h1 ^ (h2 << 1) ^ (h3 << 2) ^ (h4 << 3);
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}
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};
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} // namespace std
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#endif // KRAKEN_QUATERNION_H
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