LGram16
dd97ddec92
Move git root from Client/ to src/ to track all source code: - Client: Game client source (moved to Client/Client/) - Server: Game server source - GameTools: Development tools - CryptoSource: Encryption utilities - database: Database scripts - Script: Game scripts - rylCoder_16.02.2008_src: Legacy coder tools - GMFont, Game: Additional resources 🤖 Generated with [Claude Code](https://claude.com/claude-code) Co-Authored-By: Claude <noreply@anthropic.com>
117 lines
2.7 KiB
C
117 lines
2.7 KiB
C
// quaternion.h: interface for the quaternion class.
|
|
//
|
|
// Only for unit quaternions( norm(q) = 1 )
|
|
//
|
|
// result with non-unit quaternion by this routine is undefined
|
|
//
|
|
//////////////////////////////////////////////////////////////////////
|
|
|
|
#if !defined(AFX_QUATERNION_H__B048AE81_B0A6_11D4_AD2B_0000E8EB4C69__INCLUDED_)
|
|
#define AFX_QUATERNION_H__B048AE81_B0A6_11D4_AD2B_0000E8EB4C69__INCLUDED_
|
|
|
|
#if _MSC_VER > 1000
|
|
#pragma once
|
|
#endif // _MSC_VER > 1000
|
|
|
|
#include "MathBase.h"
|
|
|
|
|
|
struct quaternion
|
|
{
|
|
union
|
|
{
|
|
struct
|
|
{
|
|
float x, y, z, w;
|
|
};
|
|
float v[4];
|
|
};
|
|
|
|
quaternion() {};
|
|
quaternion( float fx, float fy, float fz, float fw )
|
|
{
|
|
x = fx;
|
|
y = fy;
|
|
z = fz;
|
|
w = fw;
|
|
}
|
|
// initialize to identity quaternion
|
|
void Identity()
|
|
{
|
|
x = y = z = 0.0f;
|
|
w = 1.0f;
|
|
}
|
|
|
|
quaternion& operator*=(const quaternion& op);
|
|
quaternion operator-()
|
|
{
|
|
return quaternion( -x, -y, -z, -w );
|
|
}
|
|
|
|
// perform quaternion rotation on vector
|
|
//void RotateVector( vector3& vec );
|
|
// perform axis-angle tpye rotation
|
|
void Pitch( float a )
|
|
{
|
|
quaternion x( sinf(a/2), 0.0f, 0.0f, cosf(a/2) );
|
|
(*this) *= x;
|
|
}
|
|
void Yaw( float a )
|
|
{
|
|
quaternion x( 0.0f, sinf(a/2), 0.0f, cosf(a/2) );
|
|
(*this) *= x;
|
|
}
|
|
void Roll( float a )
|
|
{
|
|
quaternion x( 0.0f, 0.0f, sinf(a/2), cosf(a/2) );
|
|
(*this) *= x;
|
|
}
|
|
|
|
};
|
|
|
|
// 'this = op * this', not 'this = this * op'
|
|
// due to the relation between rotation matrix&quaternion
|
|
inline quaternion& quaternion::operator*=(const quaternion& op)
|
|
{
|
|
float fx, fy,fz, fw;
|
|
fw = op.w*w - op.x*x - op.y*y - op.z*z;
|
|
fx = op.w*x + op.x*w + op.y*z - op.z*y;
|
|
fy = op.w*y - op.x*z + op.y*w + op.z*x;
|
|
fz = op.w*z + op.x*y - op.y*x + op.z*w;
|
|
w = fw;
|
|
x = fx;
|
|
y = fy;
|
|
z = fz;
|
|
return *this;
|
|
}
|
|
|
|
|
|
// 'result = op2 * op1', not 'result = op1 * op2'
|
|
// due to the inverse-relation between rotation matrix&quaternion
|
|
inline void Multiply( quaternion& result, quaternion& op1, quaternion& op2 )
|
|
{
|
|
result.w = op2.w*op1.w - op2.x*op1.x - op2.y*op1.y - op2.z*op1.z;
|
|
result.x = op2.w*op1.x + op2.x*op1.w + op2.y*op1.z - op2.z*op1.y;
|
|
result.y = op2.w*op1.y - op2.x*op1.z + op2.y*op1.w + op2.z*op1.x;
|
|
result.z = op2.w*op1.z + op2.x*op1.y - op2.y*op1.x + op2.z*op1.w;
|
|
}
|
|
|
|
|
|
// 'result = op2 * op1', not 'result = op1 * op2'
|
|
// due to the inverse-relation between rotation matrix&quaternion
|
|
inline const quaternion operator*( quaternion& op1, quaternion& op2 )
|
|
{
|
|
quaternion result;
|
|
|
|
result.w = op2.w*op1.w - op2.x*op1.x - op2.y*op1.y - op2.z*op1.z;
|
|
result.x = op2.w*op1.x + op2.x*op1.w + op2.y*op1.z - op2.z*op1.y;
|
|
result.y = op2.w*op1.y - op2.x*op1.z + op2.y*op1.w + op2.z*op1.x;
|
|
result.z = op2.w*op1.z + op2.x*op1.y - op2.y*op1.x + op2.z*op1.w;
|
|
|
|
return result;
|
|
}
|
|
|
|
|
|
|
|
#endif // !defined(AFX_QUATERNION_H__B048AE81_B0A6_11D4_AD2B_0000E8EB4C69__INCLUDED_)
|