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-rw-r--r--src/common/CMakeLists.txt1
-rw-r--r--src/common/quaternion.h44
2 files changed, 45 insertions, 0 deletions
diff --git a/src/common/CMakeLists.txt b/src/common/CMakeLists.txt
index 5aecf6e6e..a7a4a688c 100644
--- a/src/common/CMakeLists.txt
+++ b/src/common/CMakeLists.txt
@@ -46,6 +46,7 @@ set(HEADERS
microprofileui.h
platform.h
profiler_reporting.h
+ quaternion.h
scm_rev.h
scope_exit.h
string_util.h
diff --git a/src/common/quaternion.h b/src/common/quaternion.h
new file mode 100644
index 000000000..84ac82ed3
--- /dev/null
+++ b/src/common/quaternion.h
@@ -0,0 +1,44 @@
+// Copyright 2016 Citra Emulator Project
+// Licensed under GPLv2 or any later version
+// Refer to the license.txt file included.
+
+#pragma once
+
+#include "common/vector_math.h"
+
+namespace Math {
+
+template <typename T>
+class Quaternion {
+public:
+ Math::Vec3<T> xyz;
+ T w;
+
+ Quaternion<decltype(-T{})> Inverse() const {
+ return {-xyz, w};
+ }
+
+ Quaternion<decltype(T{} + T{})> operator+(const Quaternion& other) const {
+ return {xyz + other.xyz, w + other.w};
+ }
+
+ Quaternion<decltype(T{} - T{})> operator-(const Quaternion& other) const {
+ return {xyz - other.xyz, w - other.w};
+ }
+
+ Quaternion<decltype(T{} * T{} - T{} * T{})> operator*(const Quaternion& other) const {
+ return {xyz * other.w + other.xyz * w + Cross(xyz, other.xyz),
+ w * other.w - Dot(xyz, other.xyz)};
+ }
+};
+
+template <typename T>
+auto QuaternionRotate(const Quaternion<T>& q, const Math::Vec3<T>& v) {
+ return v + 2 * Cross(q.xyz, Cross(q.xyz, v) + v * q.w);
+}
+
+inline Quaternion<float> MakeQuaternion(const Math::Vec3<float>& axis, float angle) {
+ return {axis * std::sin(angle / 2), std::cos(angle / 2)};
+}
+
+} // namspace Math