55 lines
1.9 KiB
C++
55 lines
1.9 KiB
C++
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#pragma once
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/*
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MIT License
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Copyright (c) 2024 - 2025 René Amthor (tobid7)
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Permission is hereby granted, free of charge, to any person obtaining a copy
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of this software and associated documentation files (the "Software"), to deal
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in the Software without restriction, including without limitation the rights
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to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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copies of the Software, and to permit persons to whom the Software is
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furnished to do so, subject to the following conditions:
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The above copyright notice and this permission notice shall be included in all
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copies or substantial portions of the Software.
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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SOFTWARE.
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*/
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// This file is based on fvec4
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#include <pd/core/common.hpp>
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#include <pd/core/vec4.hpp>
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namespace PD {
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class fquat : public fvec4 {
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constexpr fquat() : fvec4(0.f, 0.f, 0.f, 1.f) {}
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constexpr fquat(float x, float y, float z, float w) : fvec4(x, y, z, w) {}
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constexpr fquat(const fvec4& v) : fvec4(v) {}
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static fquat Identity() { return fquat(0.f, 0.f, 0.f, 1.f); }
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constexpr fquat Conjugate() const { return fquat(-x, -y, -z, w); }
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fquat Inverse() const {
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float len = SqLen();
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if (len == 0.0f) {
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return fquat();
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}
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return Conjugate() / len;
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}
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fquat operator*(const fquat& v) const {
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return fquat(w * v.x + x * v.w + y * v.z - z * v.y,
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w * v.y - x * v.z + y * v.w + z * v.x,
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w * v.z + x * v.y - y * v.x + z * v.w,
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w * v.w - x * v.x - y * v.y - z * v.z);
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}
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};
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} // namespace PD
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