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#pragma once
// TODO: actually implement this
class CQuaternion
{
public:
float x, y, z, w;
CQuaternion(void) {}
CQuaternion(float x, float y, float z, float w) : x(x), y(y), z(z), w(w) {}
float Magnitude(void) const { return Sqrt(x*x + y*y + z*z + w*w); }
float MagnitudeSqr(void) const { return x*x + y*y + z*z + w*w; }
void Normalise(void);
void Multiply(const CQuaternion &q1, const CQuaternion &q2);
void Invert(void){ // Conjugate would have been a better name
x = -x;
y = -y;
z = -z;
}
const CQuaternion &operator+=(CQuaternion const &right) {
x += right.x;
y += right.y;
z += right.z;
w += right.w;
return *this;
}
const CQuaternion &operator-=(CQuaternion const &right) {
x -= right.x;
y -= right.y;
z -= right.z;
w -= right.w;
return *this;
}
const CQuaternion &operator*=(float right) {
x *= right;
y *= right;
z *= right;
w *= right;
return *this;
}
const CQuaternion &operator/=(float right) {
x /= right;
y /= right;
z /= right;
w /= right;
return *this;
}
CQuaternion operator-() const {
return CQuaternion(-x, -y, -z, -w);
}
void Slerp(const CQuaternion &q1, const CQuaternion &q2, float theta, float invSin, float t);
void Get(RwV3d *axis, float *angle);
void Set(RwV3d *axis, float angle);
void Get(RwMatrix *matrix);
void Set(const RwMatrix &matrix);
void Set(float f1, float f2, float f3);
void Get(float *f1, float *f2, float *f3);
};
inline float
DotProduct(const CQuaternion &q1, const CQuaternion &q2)
{
return q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
}
inline CQuaternion operator+(const CQuaternion &left, const CQuaternion &right)
{
return CQuaternion(left.x + right.x, left.y + right.y, left.z + right.z, left.w + right.w);
}
inline CQuaternion operator-(const CQuaternion &left, const CQuaternion &right)
{
return CQuaternion(left.x - right.x, left.y - right.y, left.z - right.z, left.w - right.w);
}
inline CQuaternion operator*(const CQuaternion &left, float right)
{
return CQuaternion(left.x * right, left.y * right, left.z * right, left.w * right);
}
inline CQuaternion operator*(float left, const CQuaternion &right)
{
return CQuaternion(left * right.x, left * right.y, left * right.z, left * right.w);
}
inline CQuaternion operator/(const CQuaternion &left, float right)
{
return CQuaternion(left.x / right, left.y / right, left.z / right, left.w / right);
}
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