*

LifeCore/math/Quaternion.h

@@ -0,0 +1,93 @@
+#ifndef __QUATERNION__
+#define __QUATERNION__
+#include "Math.h"
+#include <cmath>
+
+namespace LifeMath
+{
+#undef INLINE
+#ifdef _WIN32
+#ifdef _MSC_VER
+#define INLINE __forceinline
+#endif
+#else
+#ifdef __GNUC__
+#define INLINE __attribute__((always_inline))
+#endif
+#endif
+
+#ifndef INLINE
+#define INLINE inline
+#endif
+
+	struct Quaternion
+	{
+	public:
+		float X,Y,Z,W;
+		INLINE Quaternion()
+		{
+			X = Y = Z = W = 0.0f;
+		}
+
+		INLINE Quaternion operator -() const
+		{
+			return Quaternion(-X, -Y, -Z, -W);
+		}
+
+		INLINE bool operator == (const Quaternion& right) const
+		{
+			return (X == right.X && Y == right.Y && Z == right.Z && W == right.W);
+		}
+
+		INLINE bool operator != (const Quaternion& right) const
+		{
+			return (X != right.X || Y != right.Y || Z != right.Z || W != right.W);
+		}
+
+		INLINE Quaternion(float x, float y, float z, float w)
+		{
+			X = x;
+			Y = y;
+			Z = z;
+			W = w;
+		}
+		INLINE Quaternion& operator =(const Quaternion& other)
+		{
+			X = other.X;
+			Y = other.Y;
+			Z = other.Z;
+			W = other.W;
+			return *this;
+		}
+		INLINE Quaternion operator *(float other) const
+		{
+			return Quaternion(X * other, Y * other, Z * other, W * other);
+		}
+		INLINE Quaternion operator +(const Quaternion& other) const
+		{
+			return Quaternion(X + other.X, Y + other.Y, Z + other.Z, W + other.W);
+		}
+		INLINE Quaternion operator *(const Quaternion& other) const
+		{
+			Quaternion quaternion;
+			float x = this->X;
+			float y = this->Y;
+			float z = this->Z;
+			float w = this->W;
+			float num4 = other.X;
+			float num3 = other.Y;
+			float num2 = other.Z;
+			float num = other.W;
+			float num12 = (y * num2) - (z * num3);
+			float num11 = (z * num4) - (x * num2);
+			float num10 = (x * num3) - (y * num4);
+			float num9 = ((x * num4) + (y * num3)) + (z * num2);
+			quaternion.X = ((x * num) + (num4 * w)) + num12;
+			quaternion.Y = ((y * num) + (num3 * w)) + num11;
+			quaternion.Z = ((z * num) + (num2 * w)) + num10;
+			quaternion.W = (w * num) - num9;
+			return quaternion;
+		}
+	};
+}
+#endif