236 lines
7.2 KiB
C++
236 lines
7.2 KiB
C++
//
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// KRQuaternion.cpp
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// KREngine
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//
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// Copyright 2012 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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#include "KRQuaternion.h"
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#include "KRVector3.h"
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KRQuaternion::KRQuaternion() {
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m_val[0] = 1.0;
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m_val[1] = 0.0;
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m_val[2] = 0.0;
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m_val[3] = 0.0;
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}
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KRQuaternion::KRQuaternion(float w, float x, float y, float z) {
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m_val[0] = w;
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m_val[1] = x;
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m_val[2] = y;
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m_val[3] = z;
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}
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KRQuaternion::KRQuaternion(const KRQuaternion& p) {
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m_val[0] = p[0];
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m_val[1] = p[1];
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m_val[2] = p[2];
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m_val[3] = p[3];
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}
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KRQuaternion& KRQuaternion::operator =( const KRQuaternion& p ) {
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m_val[0] = p[0];
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m_val[1] = p[1];
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m_val[2] = p[2];
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m_val[3] = p[3];
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return *this;
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}
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KRQuaternion::KRQuaternion(const KRVector3 &euler) {
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setEuler(euler);
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}
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KRQuaternion::~KRQuaternion() {
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}
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void KRQuaternion::setEuler(const KRVector3 &euler) {
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m_val[0] = cos(euler[0] / 2.0) * cos(euler[1] / 2.0) * cos(euler[2] / 2.0) + sin(euler[0] / 2.0) * sin(euler[1] / 2.0) * sin(euler[2] / 2.0);
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m_val[1] = sin(euler[0] / 2.0) * cos(euler[1] / 2.0) * cos(euler[2] / 2.0) - cos(euler[0] / 2.0) * sin(euler[1] / 2.0) * sin(euler[2] / 2.0);
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m_val[2] = cos(euler[0] / 2.0) * sin(euler[1] / 2.0) * cos(euler[2] / 2.0) + sin(euler[0] / 2.0) * cos(euler[1] / 2.0) * sin(euler[2] / 2.0);
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m_val[3] = cos(euler[0] / 2.0) * cos(euler[1] / 2.0) * sin(euler[2] / 2.0) - sin(euler[0] / 2.0) * sin(euler[1] / 2.0) * cos(euler[2] / 2.0);
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}
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float KRQuaternion::operator [](unsigned i) const {
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return m_val[i];
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}
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float &KRQuaternion::operator [](unsigned i) {
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return m_val[i];
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}
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KRVector3 KRQuaternion::euler() const {
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KRVector3 euler;
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euler[0] = atan2(2.0 * (m_val[0] * m_val[1] + m_val[2] * m_val[3]), 1.0 - 2.0 * (m_val[1] * m_val[1] + m_val[2] * m_val[2]));
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euler[1] = asin(2.0 * (m_val[0] * m_val[2] - m_val[3] * m_val[1]));
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euler[2] = atan2(2.0 * (m_val[0] * m_val[3] + m_val[1] * m_val[2]), 1.0 - 2.0 * (m_val[2] * m_val[2] + m_val[3] * m_val[3]));
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return euler;
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}
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bool operator ==(KRQuaternion &v1, KRQuaternion &v2) {
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return
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v1[0] == v2[0]
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&& v1[1] == v2[1]
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&& v1[2] == v2[2]
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&& v1[3] == v2[3];
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}
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bool operator !=(KRQuaternion &v1, KRQuaternion &v2) {
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return
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v1[0] != v2[0]
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|| v1[1] != v2[1]
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|| v1[2] != v2[2]
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|| v1[3] != v2[3];
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}
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KRQuaternion KRQuaternion::operator *(const KRQuaternion &v) {
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float t0 = (m_val[3]-m_val[2])*(v[2]-v[3]);
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float t1 = (m_val[0]+m_val[1])*(v[0]+v[1]);
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float t2 = (m_val[0]-m_val[1])*(v[2]+v[3]);
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float t3 = (m_val[3]+m_val[2])*(v[0]-v[1]);
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float t4 = (m_val[3]-m_val[1])*(v[1]-v[2]);
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float t5 = (m_val[3]+m_val[1])*(v[1]+v[2]);
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float t6 = (m_val[0]+m_val[2])*(v[0]-v[3]);
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float t7 = (m_val[0]-m_val[2])*(v[0]+v[3]);
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float t8 = t5+t6+t7;
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float t9 = (t4+t8)/2;
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return KRQuaternion(
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t0+t9-t5,
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t1+t9-t8,
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t2+t9-t7,
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t3+t9-t6
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);
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}
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KRQuaternion KRQuaternion::operator *(float v) const {
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return KRQuaternion(m_val[0] * v, m_val[1] * v, m_val[2] * v, m_val[3] * v);
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}
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KRQuaternion KRQuaternion::operator /(float num) const {
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return KRQuaternion(m_val[0] / num, m_val[1] / num, m_val[2] / num, m_val[3] / num);
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}
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KRQuaternion KRQuaternion::operator +(const KRQuaternion &v) const {
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return KRQuaternion(m_val[0] + v[0], m_val[1] + v[1], m_val[2] + v[2], m_val[3] + v[3]);
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}
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KRQuaternion KRQuaternion::operator -(const KRQuaternion &v) const {
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return KRQuaternion(m_val[0] - v[0], m_val[1] - v[1], m_val[2] - v[2], m_val[3] - v[3]);
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}
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KRQuaternion& KRQuaternion::operator +=(const KRQuaternion& v) {
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m_val[0] += v[0];
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m_val[1] += v[1];
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m_val[2] += v[2];
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m_val[3] += v[3];
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return *this;
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}
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KRQuaternion& KRQuaternion::operator -=(const KRQuaternion& v) {
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m_val[0] += v[0];
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m_val[1] += v[1];
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m_val[2] += v[2];
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m_val[3] += v[3];
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return *this;
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}
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KRQuaternion& KRQuaternion::operator *=(const KRQuaternion& v) {
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float t0 = (m_val[3]-m_val[2])*(v[2]-v[3]);
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float t1 = (m_val[0]+m_val[1])*(v[0]+v[1]);
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float t2 = (m_val[0]-m_val[1])*(v[2]+v[3]);
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float t3 = (m_val[3]+m_val[2])*(v[0]-v[1]);
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float t4 = (m_val[3]-m_val[1])*(v[1]-v[2]);
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float t5 = (m_val[3]+m_val[1])*(v[1]+v[2]);
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float t6 = (m_val[0]+m_val[2])*(v[0]-v[3]);
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float t7 = (m_val[0]-m_val[2])*(v[0]+v[3]);
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float t8 = t5+t6+t7;
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float t9 = (t4+t8)/2;
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m_val[0] = t0+t9-t5;
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m_val[1] = t1+t9-t8;
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m_val[2] = t2+t9-t7;
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m_val[3] = t3+t9-t6;
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return *this;
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}
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KRQuaternion& KRQuaternion::operator *=(const float& v) {
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m_val[0] *= v;
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m_val[1] *= v;
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m_val[2] *= v;
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m_val[3] *= v;
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return *this;
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}
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KRQuaternion& KRQuaternion::operator /=(const float& v) {
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m_val[0] /= v;
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m_val[1] /= v;
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m_val[2] /= v;
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m_val[3] /= v;
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return *this;
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}
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KRQuaternion KRQuaternion::operator +() const {
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return *this;
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}
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KRQuaternion KRQuaternion::operator -() const {
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return KRQuaternion(-m_val[0], -m_val[1], -m_val[2], -m_val[3]);
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}
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KRQuaternion Normalize(const KRQuaternion &v1) {
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float magnitude = sqrtf(v1[0] * v1[0] + v1[1] * v1[1] + v1[2] * v1[2] + v1[3] * v1[3]);
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return KRQuaternion(
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v1[0] / magnitude,
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v1[1] / magnitude,
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v1[2] / magnitude,
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v1[3] / magnitude
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);
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}
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void KRQuaternion::normalize() {
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float magnitude = sqrtf(m_val[0] * m_val[0] + m_val[1] * m_val[1] + m_val[2] * m_val[2] + m_val[3] * m_val[3]);
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m_val[0] /= magnitude;
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m_val[1] /= magnitude;
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m_val[2] /= magnitude;
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m_val[3] /= magnitude;
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}
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KRQuaternion Conjugate(const KRQuaternion &v1) {
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return KRQuaternion(v1[0], -v1[1], -v1[2], -v1[3]);
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}
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void KRQuaternion::conjugate() {
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m_val[1] = -m_val[1];
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m_val[2] = -m_val[2];
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m_val[3] = -m_val[3];
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}
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