Cynopolis
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90 lines
2.4 KiB
C++
90 lines
2.4 KiB
C++
#ifndef QUATERNION_H_
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#define QUATERNION_H_
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#include "Matrix.hpp"
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class Quaternion : public Matrix<1, 4> {
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public:
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Quaternion() : Matrix<1, 4>() {}
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Quaternion(float w, float v1, float v2, float v3)
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: Matrix<1, 4>(w, v1, v2, v3) {}
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Quaternion(const Quaternion &q) : Matrix<1, 4>(q.w, q.v1, q.v2, q.v3) {}
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Quaternion(const Matrix<1, 4> &matrix) : Matrix<1, 4>(matrix) {}
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Quaternion(const std::array<float, 4> &array) : Matrix<1, 4>(array) {}
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/**
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* @brief Create a quaternion from an angle and axis
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* @param angle The angle to rotate by
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* @param axis The axis to rotate around
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*/
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static Quaternion FromAngleAndAxis(float angle, const Matrix<1, 3> &axis);
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/**
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* @brief Access the elements of the quaternion
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* @param index The index of the element to access
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* @return The value of the element at the index
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*/
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float operator[](uint8_t index) const;
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/**
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* @brief Assign one quaternion to another
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*/
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void operator=(const Quaternion &other);
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/**
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* @brief Do quaternion multiplication
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*/
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Quaternion operator*(const Quaternion &other) const;
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/**
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* @brief Multiply the quaternion by a scalar
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*/
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Quaternion operator*(float scalar) const;
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/**
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* @brief Add two quaternions together
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* @param other The quaternion to add to this one
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* @return The net quaternion
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*/
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Quaternion operator+(const Quaternion &other) const;
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/**
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* @brief Q_Mult a quaternion by another quaternion
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* @param other The quaternion to rotate by
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* @param buffer The buffer to store the result in
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* @return A reference to the buffer
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*/
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Quaternion &Q_Mult(const Quaternion &other, Quaternion &buffer) const;
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/**
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* @brief Rotate a quaternion by this quaternion
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* @param other The quaternion to rotate
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* @param buffer The buffer to store the result in
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*
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*/
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Quaternion &Rotate(Quaternion &other, Quaternion &buffer) const;
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/**
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* @brief Normalize the quaternion to a magnitude of 1
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*/
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void Normalize();
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/**
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* @brief Convert the quaternion to a rotation matrix
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* @return The rotation matrix
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*/
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Matrix<3, 3> ToRotationMatrix() const;
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/**
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* @brief Convert the quaternion to an Euler angle representation
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* @return The Euler angle representation of the quaternion
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*/
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Matrix<3, 1> ToEulerAngle() const;
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// Give people an easy way to access the elements
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float &w{matrix[0]};
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float &v1{matrix[1]};
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float &v2{matrix[2]};
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float &v3{matrix[3]};
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};
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#endif // QUATERNION_H_
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