93 lines
1.9 KiB
C++
93 lines
1.9 KiB
C++
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#ifndef __QUATERNION__
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#define __QUATERNION__
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#include "Math.h"
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#include <cmath>
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namespace LifeMath
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{
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#undef INLINE
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#ifdef _WIN32
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#ifdef _MSC_VER
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#define INLINE __forceinline
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#endif
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#else
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#ifdef __GNUC__
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#define INLINE __attribute__((always_inline))
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#endif
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#endif
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#ifndef INLINE
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#define INLINE inline
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#endif
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struct Quaternion
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{
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public:
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float X,Y,Z,W;
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INLINE Quaternion()
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{
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X = Y = Z = W = 0.0f;
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}
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INLINE Quaternion operator -() const
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{
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return Quaternion(-X, -Y, -Z, -W);
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}
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INLINE bool operator == (const Quaternion& right) const
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{
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return (X == right.X && Y == right.Y && Z == right.Z && W == right.W);
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}
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INLINE bool operator != (const Quaternion& right) const
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{
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return (X != right.X || Y != right.Y || Z != right.Z || W != right.W);
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}
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INLINE Quaternion(float x, float y, float z, float w)
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{
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X = x;
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Y = y;
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Z = z;
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W = w;
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}
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INLINE Quaternion& operator =(const Quaternion& other)
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{
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X = other.X;
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Y = other.Y;
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Z = other.Z;
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W = other.W;
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return *this;
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}
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INLINE Quaternion operator *(float other) const
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{
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return Quaternion(X * other, Y * other, Z * other, W * other);
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}
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INLINE Quaternion operator +(const Quaternion& other) const
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{
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return Quaternion(X + other.X, Y + other.Y, Z + other.Z, W + other.W);
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}
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INLINE Quaternion operator *(const Quaternion& other) const
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{
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Quaternion quaternion;
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float x = this->X;
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float y = this->Y;
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float z = this->Z;
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float w = this->W;
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float num4 = other.X;
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float num3 = other.Y;
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float num2 = other.Z;
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float num = other.W;
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float num12 = (y * num2) - (z * num3);
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float num11 = (z * num4) - (x * num2);
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float num10 = (x * num3) - (y * num4);
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float num9 = ((x * num4) + (y * num3)) + (z * num2);
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quaternion.X = ((x * num) + (num4 * w)) + num12;
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quaternion.Y = ((y * num) + (num3 * w)) + num11;
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quaternion.Z = ((z * num) + (num2 * w)) + num10;
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quaternion.W = (w * num) - num9;
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return quaternion;
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}
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};
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}
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#endif
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