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Пелипенко Иван
2022-12-14 13:56:19 +03:00
parent c74ba871cd
commit 430a41fefc
14 changed files with 912 additions and 623 deletions
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42
libs/main/math/piquaternion.h
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@@ -28,26 +28,26 @@
#include "pimathmatrix.h"
class PIP_EXPORT PIQuaternion
{
friend PIQuaternion operator*(const PIQuaternion & q0, const PIQuaternion & q1);
friend PIQuaternion operator*(const double & a, const PIQuaternion & q);
class PIP_EXPORT PIQuaternion {
friend PIP_EXPORT PIQuaternion operator*(const PIQuaternion & q0, const PIQuaternion & q1);
friend PIP_EXPORT PIQuaternion operator*(const double & a, const PIQuaternion & q);
public:
PIQuaternion(const PIMathVectorT3d & u = PIMathVectorT3d(), double a = 0.);
PIQuaternion conjugate() const {return PIQuaternion(-vector(), scalar());}
PIQuaternion conjugate() const { return PIQuaternion(-vector(), scalar()); }
PIQuaternion rotated(const PIMathVectorT3d & u, double a) const;
void rotate(const PIMathVectorT3d & u, double a);
void normalize();
double & scalar() {return q[0];}
double scalar() const {return q[0];}
PIMathVectorT3d vector() const {return PIMathVectorT3d({q[1], q[2], q[3]});}
double & scalar() { return q[0]; }
double scalar() const { return q[0]; }
PIMathVectorT3d vector() const { return PIMathVectorT3d({q[1], q[2], q[3]}); }
PIMathVectorT3d eyler() const;
PIMathMatrixT33d rotationMatrix() const;
void axis(PIMathVectorT3d*ret) const;
void axis(PIMathVectorT3d * ret) const;
static PIQuaternion fromEyler(double ax, double ay, double az);
static PIQuaternion fromRotationMatrix(const PIMathMatrixT33d & m);
static PIQuaternion fromAngles(double ax, double ay, double az);
@@ -57,10 +57,16 @@ protected:
double q[4];
};
PIP_EXPORT PIQuaternion operator *(const double & a, const PIQuaternion & q);
PIP_EXPORT PIQuaternion operator *(const PIQuaternion & q0, const PIQuaternion & q1);
inline PIQuaternion operator +(const PIQuaternion & q0, const PIQuaternion & q1) {return PIQuaternion(q0.vector() + q1.vector(), q0.scalar() + q1.scalar());}
inline PIQuaternion operator -(const PIQuaternion & q0, const PIQuaternion & q1) {return PIQuaternion(q0.vector() - q1.vector(), q0.scalar() - q1.scalar());}
inline PIQuaternion operator -(const PIQuaternion & q0) {return PIQuaternion(-q0.vector(), -q0.scalar());}
PIP_EXPORT PIQuaternion operator*(const double & a, const PIQuaternion & q);
PIP_EXPORT PIQuaternion operator*(const PIQuaternion & q0, const PIQuaternion & q1);
inline PIQuaternion operator+(const PIQuaternion & q0, const PIQuaternion & q1) {
return PIQuaternion(q0.vector() + q1.vector(), q0.scalar() + q1.scalar());
}
inline PIQuaternion operator-(const PIQuaternion & q0, const PIQuaternion & q1) {
return PIQuaternion(q0.vector() - q1.vector(), q0.scalar() - q1.scalar());
}
inline PIQuaternion operator-(const PIQuaternion & q0) {
return PIQuaternion(-q0.vector(), -q0.scalar());
}
#endif // PIQUATERNION_H