85 lines
1.7 KiB
C++
85 lines
1.7 KiB
C++
#pragma once
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#include <basis/seadTypes.h>
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#include <cmath>
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#include <limits>
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#include <math/seadMathPolicies.h>
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#include <math/seadVector.h>
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namespace sead
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{
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template <typename T>
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struct Quat : public Policies<T>::QuatBase
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{
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private:
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typedef Quat<T> Self;
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typedef Vector3<T> Vec3;
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public:
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Quat() {}
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Quat(const Quat& other) = default;
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Quat(T w, T x, T y, T z);
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Quat& operator=(const Quat& other)
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{
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this->w = other.w;
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this->x = other.x;
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this->y = other.y;
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this->z = other.z;
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return *this;
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}
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friend Quat operator*(const Quat& a, T t)
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{
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auto result = a;
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result *= t;
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return result;
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}
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friend Quat operator*(const Quat& a, const Quat& b)
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{
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auto result = a;
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result *= b;
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return result;
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}
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friend Quat operator*(T t, const Quat& a) { return operator*(a, t); }
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Quat& operator*=(const Quat& t);
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Quat& operator*=(T t)
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{
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this->w *= t;
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this->x *= t;
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this->y *= t;
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this->z *= t;
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return *this;
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}
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bool operator==(const Quat& rhs) const { return this->x == rhs.x && this->y == rhs.y && this->z == rhs.z && this->w == rhs.w; }
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T length() const;
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T normalize();
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T dot(const Self& q);
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void inverse(Self* q);
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void makeUnit();
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bool makeVectorRotation(const Vec3& from, const Vec3& to);
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void set(T w, T x, T y, T z);
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void setRPY(T roll, T pitch, T yaw);
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void calcRPY(Vec3& rpy) const;
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static const Quat unit;
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};
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using Quatf = Quat<f32>;
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template <>
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const Quatf Quatf::unit;
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} // namespace sead
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#define SEAD_MATH_QUAT_H_
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#include <math/seadQuat.hpp>
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#undef SEAD_MATH_QUAT_H_
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