mirror of
https://github.com/borgesdan/xn65
synced 2024-12-29 21:54:47 +01:00
111 lines
3.9 KiB
C++
111 lines
3.9 KiB
C++
#ifndef XNA_COMMON_QUATERNION_HPP
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#define XNA_COMMON_QUATERNION_HPP
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#include "vectors.hpp"
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namespace xna {
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struct Quaternion {
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float X{ 0 };
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float Y{ 0 };
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float Z{ 0 };
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float W{ 0 };
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constexpr Quaternion() = default;
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constexpr Quaternion(float X, float Y, float Z, float W)
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: X(X), Y(Y), Z(Z), W(W) { }
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constexpr bool operator==(const Quaternion& other) const {
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return X == other.X && Y == other.Y && Z == other.Z && W == other.W;
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}
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};
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constexpr Vector2 Vector2::Transform(Vector2 const& value, Quaternion const& rotation) {
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const auto rx = rotation.X + rotation.X;
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const auto ry = rotation.Y + rotation.Y;
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const auto rz = rotation.Z + rotation.Z;
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const auto rwz = rotation.W * rz;
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const auto rxx = rotation.X * rx;
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const auto rxy = rotation.X * ry;
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const auto ryy = rotation.Y * ry;
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const auto rzz = rotation.Z * rz;
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const auto x = value.X * (1.0F - ryy - rzz) + value.Y * (rxy - rwz);
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const auto y = value.X * (rxy + rwz) + value.Y * (1.0F - rxx - rzz);
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return{ x,y };
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}
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constexpr Vector3 Vector3::Transform(Vector3 const& value, Quaternion const& rotation)
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{
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const auto num1 = rotation.X + rotation.X;
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const auto num2 = rotation.Y + rotation.Y;
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const auto num3 = rotation.Z + rotation.Z;
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const auto num4 = rotation.W * num1;
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const auto num5 = rotation.W * num2;
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const auto num6 = rotation.W * num3;
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const auto num7 = rotation.X * num1;
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const auto num8 = rotation.X * num2;
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const auto num9 = rotation.X * num3;
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const auto num10 = rotation.Y * num2;
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const auto num11 = rotation.Y * num3;
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const auto num12 = rotation.Z * num3;
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const auto num13 = (value.X * (1.0F - num10 - num12) + value.Y * (num8 - num6) + value.Z * (num9 + num5));
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const auto num14 = (value.X * (num8 + num6) + value.Y * (1.0F - num7 - num12) + value.Z * (num11 - num4));
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const auto num15 = (value.X * (num9 - num5) + value.Y * (num11 + num4) + value.Z * (1.0F - num7 - num10));
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Vector3 vector3;
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vector3.X = num13;
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vector3.Y = num14;
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vector3.Z = num15;
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return vector3;
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}
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constexpr Vector4 Vector4::Transform(Vector2 const& value, Quaternion const& rotation)
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{
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const auto num1 = rotation.X + rotation.X;
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const auto num2 = rotation.Y + rotation.Y;
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const auto num3 = rotation.Z + rotation.Z;
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const auto num4 = rotation.W * num1;
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const auto num5 = rotation.W * num2;
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const auto num6 = rotation.W * num3;
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const auto num7 = rotation.X * num1;
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const auto num8 = rotation.X * num2;
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const auto num9 = rotation.X * num3;
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const auto num10 = rotation.Y * num2;
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const auto num11 = rotation.Y * num3;
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const auto num12 = rotation.Z * num3;
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const auto num13 = (value.X * (1.0F - num10 - num12) + value.Y * (num8 - num6));
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const auto num14 = (value.X * (num8 + num6) + value.Y * (1.0F - num7 - num12));
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const auto num15 = (value.X * (num9 - num5) + value.Y * (num11 + num4));
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Vector4 vector4;
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vector4.X = num13;
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vector4.Y = num14;
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vector4.Z = num15;
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vector4.W = 1.0f;
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return vector4;
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}
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constexpr Vector4 Vector4::Transform(Vector3 const& value, Quaternion const& rotation) {
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const auto num1 = rotation.X + rotation.X;
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const auto num2 = rotation.Y + rotation.Y;
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const auto num3 = rotation.Z + rotation.Z;
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const auto num4 = rotation.W * num1;
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const auto num5 = rotation.W * num2;
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const auto num6 = rotation.W * num3;
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const auto num7 = rotation.X * num1;
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const auto num8 = rotation.X * num2;
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const auto num9 = rotation.X * num3;
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const auto num10 = rotation.Y * num2;
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const auto num11 = rotation.Y * num3;
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const auto num12 = rotation.Z * num3;
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const auto num13 = (value.X * (1.0F - num10 - num12) + value.Y * (num8 - num6) + value.Z * (num9 + num5));
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const auto num14 = (value.X * (num8 + num6) + value.Y * (1.0F - num7 - num12) + value.Z * (num11 - num4));
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const auto num15 = (value.X * (num9 - num5) + value.Y * (num11 + num4) + value.Z * (1.0F - num7 - num10));
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Vector4 vector4;
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vector4.X = num13;
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vector4.Y = num14;
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vector4.Z = num15;
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vector4.W = 1.0f;
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return vector4;
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}
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}
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#endif |