95 lines
1.8 KiB
C++
95 lines
1.8 KiB
C++
#pragma once
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#include <math/seadQuatCalcCommon.h>
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#ifndef SEAD_MATH_QUAT_H_
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#include <math/seadQuat.h>
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#endif
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namespace sead
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{
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template <typename T>
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inline Quat<T>::Quat(T w_, T x_, T y_, T z_)
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{
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QuatCalcCommon<T>::set(*this, w_, x_, y_, z_);
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}
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template <typename T>
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inline Quat<T>& Quat<T>::operator*=(const Quat<T>& t)
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{
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QuatCalcCommon<T>::setMul(*this, *this, t);
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return *this;
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}
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template <typename T>
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inline T Quat<T>::length() const
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{
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return QuatCalcCommon<T>::length(*this);
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}
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template <typename T>
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inline T Quat<T>::normalize()
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{
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return QuatCalcCommon<T>::normalize(*this);
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}
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template <typename T>
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inline T Quat<T>::dot(const Self& q)
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{
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return QuatCalcCommon<T>::dot(*this, q);
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}
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// reference?
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// conjugate(q) / dot(q)?
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template <typename T>
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inline void Quat<T>::inverse(Self* q)
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{
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T prod = dot(*this);
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if (prod > std::numeric_limits<T>::epsilon())
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{
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T inv = T(1) / prod;
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q->w = inv * this->w;
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q->x = inv * -this->x;
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q->y = inv * -this->y;
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q->z = inv * -this->z;
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}
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else
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{
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q->w = this->w;
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q->x = -this->x;
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q->y = -this->y;
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q->z = -this->z;
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}
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}
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template <typename T>
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inline void Quat<T>::makeUnit()
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{
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QuatCalcCommon<T>::makeUnit(*this);
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}
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template <typename T>
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inline bool Quat<T>::makeVectorRotation(const Vec3& from, const Vec3& to)
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{
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return QuatCalcCommon<T>::makeVectorRotation(*this, from, to);
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}
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template <typename T>
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inline void Quat<T>::set(T w_, T x_, T y_, T z_)
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{
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QuatCalcCommon<T>::set(*this, w_, x_, y_, z_);
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}
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template <typename T>
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inline void Quat<T>::setRPY(T roll, T pitch, T yaw)
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{
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QuatCalcCommon<T>::setRPY(*this, roll, pitch, yaw);
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}
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template <typename T>
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inline void Quat<T>::calcRPY(Vec3& vec) const
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{
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QuatCalcCommon<T>::calcRPY(vec, *this);
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}
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} // namespace sead
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