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