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Common/Matrix: Add Quaternion class.

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This commit is contained in:
Jordan Woyak
2020-10-19 15:27:01 -05:00
parent 0f5bf90013
commit 39030ea33c
2 changed files with 115 additions and 8 deletions
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33
Source/Core/Common/Matrix.h
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@ -154,6 +154,8 @@ union TVec4
TVec4(TVec3<T> _vec, T _w) : TVec4{_vec.x, _vec.y, _vec.z, _w} {}
TVec4(T _x, T _y, T _z, T _w) : data{_x, _y, _z, _w} {}
T Dot(const TVec4& other) const { return x * other.x + y * other.y + z * other.z + w * other.w; }
TVec4& operator*=(const TVec4& rhs)
{
x *= rhs.x;
@ -321,11 +323,40 @@ auto operator/(TVec2<T> lhs, T2 scalar)
using Vec2 = TVec2<float>;
using DVec2 = TVec2<double>;
class Matrix33;
class Quaternion
{
public:
static Quaternion Identity();
static Quaternion RotateX(float rad);
static Quaternion RotateY(float rad);
static Quaternion RotateZ(float rad);
static Quaternion Rotate(float rad, const Vec3& axis);
Quaternion() = default;
Quaternion(float w, float x, float y, float z);
float Norm() const;
Quaternion Normalized() const;
Quaternion Conjugate() const;
Quaternion Inverted() const;
Quaternion& operator*=(const Quaternion& rhs);
Vec4 data;
};
Quaternion operator*(Quaternion lhs, const Quaternion& rhs);
Vec3 operator*(const Quaternion& lhs, const Vec3& rhs);
class Matrix33
{
public:
static Matrix33 Identity();
static Matrix33 FromQuaternion(float x, float y, float z, float w);
static Matrix33 FromQuaternion(const Quaternion&);
// Return a rotation matrix around the x,y,z axis
static Matrix33 RotateX(float rad);