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- #include "core/math/Quaternion.hpp"
- Core::Quaternion::Quaternion() : xyz(), w(1.0f) {
- }
- Core::Quaternion::Quaternion(const Vector3& axis, float angle)
- : xyz(axis), w(1.0f) {
- xyz.normalize();
- float factor = 0.0f;
- Core::Math::sinCos(Core::Math::degreeToRadian(angle) * 0.5f, factor, w);
- xyz *= factor;
- }
- Core::Quaternion Core::Quaternion::lerp(float f,
- const Quaternion& other) const {
- Quaternion q;
- q.xyz = xyz * (1.0f - f) + other.xyz * f;
- q.w = w * (1.0f - f) + other.w * f;
- float iLength =
- 1.0f / Core::Math::squareRoot(q.xyz.squareLength() + q.w * q.w);
- q.xyz *= iLength;
- q.w *= iLength;
- return q;
- }
- Core::Quaternion& Core::Quaternion::operator*=(const Quaternion& other) {
- float dot = xyz.dot(other.xyz);
- xyz = other.xyz * w + xyz * other.w + xyz.cross(other.xyz);
- w = w * other.w - dot;
- return *this;
- }
- Core::Quaternion Core::Quaternion::operator*(const Quaternion& other) const {
- Quaternion q(*this);
- q *= other;
- return q;
- }
- Core::Vector3 Core::Quaternion::operator*(const Vector3& v) const {
- Vector3 qv = v * w + xyz.cross(v);
- Vector3 qvq = xyz * xyz.dot(v) + qv * w - qv.cross(xyz);
- return qvq;
- }
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