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- /*
- * Copyright (C) 2021 Christopher J. Howard
- *
- * This file is part of Antkeeper source code.
- *
- * Antkeeper source code is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * Antkeeper source code is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with Antkeeper source code. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #ifndef ANTKEEPER_MATH_QUATERNION_TYPE_HPP
- #define ANTKEEPER_MATH_QUATERNION_TYPE_HPP
-
- #include <cmath>
-
- namespace math {
-
- /**
- * A quaternion type is a tuple made of a scalar (real) part and vector (imaginary) part.
- *
- * @tparam T Scalar type.
- */
- template <class T>
- struct quaternion
- {
- typedef T scalar_type;
- scalar_type w;
- scalar_type x;
- scalar_type y;
- scalar_type z;
-
- /// Returns the rotation identity quaternion.
- static constexpr quaternion identity();
-
- /**
- * Returns a quaternion representing a rotation about the x-axis.
- *
- * @param angle Angle of rotation, in radians.
- * @return Quaternion representing an x-axis rotation.
- */
- static quaternion rotate_x(scalar_type angle);
-
- /**
- * Returns a quaternion representing a rotation about the y-axis.
- *
- * @param angle Angle of rotation, in radians.
- * @return Quaternion representing an y-axis rotation.
- */
- static quaternion rotate_y(scalar_type angle);
-
- /**
- * Returns a quaternion representing a rotation about the z-axis.
- *
- * @param angle Angle of rotation, in radians.
- * @return Quaternion representing an z-axis rotation.
- */
- static quaternion rotate_z(scalar_type angle);
- };
-
- template <class T>
- constexpr quaternion<T> quaternion<T>::identity()
- {
- return {T(1), T(0), T(0), T(0)};
- };
-
- template <class T>
- quaternion<T> quaternion<T>::rotate_x(scalar_type angle)
- {
- return {std::cos(angle * T(0.5)), std::sin(angle * T(0.5)), T(0), T(0)};
- }
-
- template <class T>
- quaternion<T> quaternion<T>::rotate_y(scalar_type angle)
- {
- return {std::cos(angle * T(0.5)), T(0), std::sin(angle * T(0.5)), T(0)};
- }
-
- template <class T>
- quaternion<T> quaternion<T>::rotate_z(scalar_type angle)
- {
- return {std::cos(angle * T(0.5)), T(0), T(0), std::sin(angle * T(0.5))};
- }
-
- } // namespace math
-
- #endif // ANTKEEPER_MATH_QUATERNION_TYPE_HPP
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