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-rw-r--r--src/math/Quaternion.h83
1 files changed, 83 insertions, 0 deletions
diff --git a/src/math/Quaternion.h b/src/math/Quaternion.h
new file mode 100644
index 00000000..702fc72f
--- /dev/null
+++ b/src/math/Quaternion.h
@@ -0,0 +1,83 @@
+#pragma once
+
+// TODO: actually implement this
+class CQuaternion
+{
+public:
+ float x, y, z, w;
+ CQuaternion(void) {}
+ CQuaternion(float x, float y, float z, float w) : x(x), y(y), z(z), w(w) {}
+
+ float Magnitude(void) const { return sqrt(x*x + y*y + z*z + w*w); }
+ float MagnitudeSqr(void) const { return x*x + y*y + z*z + w*w; }
+
+ const CQuaternion &operator+=(CQuaternion const &right) {
+ x += right.x;
+ y += right.y;
+ z += right.z;
+ w += right.w;
+ return *this;
+ }
+
+ const CQuaternion &operator-=(CQuaternion const &right) {
+ x -= right.x;
+ y -= right.y;
+ z -= right.z;
+ w -= right.w;
+ return *this;
+ }
+
+ const CQuaternion &operator*=(float right) {
+ x *= right;
+ y *= right;
+ z *= right;
+ w *= right;
+ return *this;
+ }
+
+ const CQuaternion &operator/=(float right) {
+ x /= right;
+ y /= right;
+ z /= right;
+ w /= right;
+ return *this;
+ }
+
+ CQuaternion operator-() const {
+ return CQuaternion(-x, -y, -z, -w);
+ }
+
+ void Slerp(const CQuaternion &q1, const CQuaternion &q2, float theta, float invSin, float t);
+ void Get(RwMatrix *matrix);
+};
+
+inline float
+DotProduct(const CQuaternion &q1, const CQuaternion &q2)
+{
+ return q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w;
+}
+
+inline CQuaternion operator+(const CQuaternion &left, const CQuaternion &right)
+{
+ return CQuaternion(left.x + right.x, left.y + right.y, left.z + right.z, left.w + right.w);
+}
+
+inline CQuaternion operator-(const CQuaternion &left, const CQuaternion &right)
+{
+ return CQuaternion(left.x - right.x, left.y - right.y, left.z - right.z, left.w - right.w);
+}
+
+inline CQuaternion operator*(const CQuaternion &left, float right)
+{
+ return CQuaternion(left.x * right, left.y * right, left.z * right, left.w * right);
+}
+
+inline CQuaternion operator*(float left, const CQuaternion &right)
+{
+ return CQuaternion(left * right.x, left * right.y, left * right.z, left * right.w);
+}
+
+inline CQuaternion operator/(const CQuaternion &left, float right)
+{
+ return CQuaternion(left.x / right, left.y / right, left.z / right, left.w / right);
+}