76 lines
2.1 KiB
C++
76 lines
2.1 KiB
C++
#ifndef QUATERNION_H
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#define QUATERNION_H
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#pragma once
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struct Vector3;
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extern "C" {
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typedef struct Quat {
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float x;
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float y;
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float z;
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float w;
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} Quat;
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void CopyQuat(const Quat& q1, Quat& q2);
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}
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/// <summary>
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/// A quaternion
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/// </summary>
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struct Quaternion : Quat {
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public:
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Quaternion();
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Quaternion(float _x, float _y, float _z, float _w);
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Quaternion(Vector3 _xyz, float _w);
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Quaternion(Quat q);
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~Quaternion();
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const static Quaternion identity;
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float GetLength() const;
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float GetLengthSquared() const;
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static float GetLengthSquared(const Quaternion& q);
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void Normalize();
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static Quaternion Normalize(const Quaternion& q);
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static void Normalize(const Quaternion& q, Quaternion& result);
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static float Dot(Quaternion a, Quaternion b);
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static Vector3 ToAngles(const Quaternion& q1);
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Vector3 operator *(const Vector3& p) const;
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Quaternion operator *(const Quaternion& r2) const;
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bool operator ==(const Quaternion& q);
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static Quaternion Inverse(Quaternion r);
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static Quaternion LookRotation(const Vector3& forward, const Vector3& upwards);
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static Quaternion LookRotation(const Vector3& forward);
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static Quaternion FromToRotation(Vector3 fromDirection, Vector3 toDirection);
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static Quaternion RotateTowards(const Quaternion& from, const Quaternion& to, float maxDegreesDelta);
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static Quaternion AngleAxis(float angle, const Vector3& axis);
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void ToAngleAxis(float* angle, Vector3* axis);
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static void ToAxisAngleRad(const Quaternion& q, Vector3* const axis, float* angle);
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static float Angle(Quaternion a, Quaternion b);
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static Quaternion Slerp(const Quaternion& a, const Quaternion& b, float t);
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static Quaternion SlerpUnclamped(const Quaternion& a, const Quaternion& b, float t);
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static Quaternion Euler(float x, float y, float z);
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static Quaternion Euler(Vector3 euler);
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static Quaternion FromEulerRad(Vector3 euler);
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static float GetAngleAround(Vector3 axis, Quaternion rotation);
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static Quaternion GetRotationAround(Vector3 axis, Quaternion rotation);
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static void GetSwingTwist(Vector3 axis, Quaternion rotation, Quaternion* swing, Quaternion* twist);
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public:
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Vector3 xyz() const;
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};
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//#include "Vector3.h"
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#endif
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