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#ifndef MATH_QUAT_H
#define MATH_QUAT_H
#include <cmath>
namespace engine::math {
struct Quaternion {
static constexpr Quaternion zero() {
return {0.f, 0.f, 0.f, 0.f};
}
static constexpr Quaternion one() {
return {1.f, 0.f, 0.f, 0.f};
}
static constexpr Quaternion euler_zyx(float a, float b, float c) {
float ca = std::cos(a / 2.f), sa = std::sin(a / 2.f),
cb = std::cos(b / 2.f), sb = std::sin(b / 2.f),
cc = std::cos(c / 2.f), sc = std::sin(c / 2.f);
return {
ca * cb * cc - sa * sb * sc,
sa * cb * cc + ca * sb * sc,
ca * sb * cc - sa * cb * sc,
ca * cb * sc + sa * sb * cc,
};
}
float w, x, y, z;
constexpr Quaternion() {}
constexpr Quaternion(float w, float x, float y, float z) : w{w}, x{x}, y{y}, z{z} {}
constexpr bool operator==(const Quaternion& other) const & {
return w == other.w && x == other.x && y == other.y && z == other.z;
}
constexpr bool operator!=(const Quaternion& other) const & {
return !(*this == other);
}
constexpr Quaternion operator+() const & {
return *this;
}
constexpr Quaternion operator-() const & {
return { -w, -x, -y, -z };
}
constexpr Quaternion operator+(const Quaternion& other) const & {
return { w + other.w, x + other.x, y + other.y, z + other.z };
}
constexpr Quaternion operator-(const Quaternion& other) const & {
return *this + (-other);
}
constexpr Quaternion operator*(const Quaternion& other) const & {
return {
w * other.w - x * other.x - y * other.y - z * other.z,
w * other.x + x * other.w + y * other.z - z * other.y,
w * other.y + y * other.w + z * other.x - x * other.z,
w * other.z + z * other.w + x * other.y - y * other.x,
};
}
constexpr Quaternion conjugate() const & {
return {w, -x, -y, -z};
}
};
}
#endif // MATH_QUAT_H
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