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Add helper Quaternion methods

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Signed-off-by: Slendi <slendi@socopon.com>
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Slendi
2026-01-11 09:35:27 +02:00
parent 0b685eb30b
commit 8dc5ef8f24
1 changed files with 38 additions and 0 deletions
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38
include/smath.hpp
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@@ -626,6 +626,8 @@ template<class T> constexpr auto turns(T value)
return static_cast<R>(value); return static_cast<R>(value);
} }
} }
template<std::size_t R, std::size_t C, typename T>
requires std::is_arithmetic_v<T> struct Mat;
template<class T> struct Quaternion : Vec<4, T> { template<class T> struct Quaternion : Vec<4, T> {
using Base = Vec<4, T>; using Base = Vec<4, T>;
@@ -660,6 +662,42 @@ template<class T> struct Quaternion : Vec<4, T> {
return r; return r;
} }
[[nodiscard]] constexpr auto as_matrix() const noexcept -> Mat<4, 4, T>
{
auto const xx = x() * x();
auto const yy = y() * y();
auto const zz = z() * z();
auto const xy = x() * y();
auto const xz = x() * z();
auto const yz = y() * z();
auto const wx = w() * x();
auto const wy = w() * y();
auto const wz = w() * z();
return Mat<4, 4, T> {
Vec<4, T> { 1 - 2 * (yy + zz), 2 * (xy + wz), 2 * (xz - wy), 0 },
Vec<4, T> { 2 * (xy - wz), 1 - 2 * (xx + zz), 2 * (yz + wx), 0 },
Vec<4, T> { 2 * (xz + wy), 2 * (yz - wx), 1 - 2 * (xx + yy), 0 },
Vec<4, T> { 0, 0, 0, 1 },
};
}
[[nodiscard]] static constexpr auto from_axis_angle(
Vec<3, T> const &axis, T const angle) noexcept -> Quaternion
{
auto const normalized_axis { axis.normalized_safe() };
auto const half_angle { angle / static_cast<T>(2) };
auto const sine { std::sin(half_angle) };
auto const cosine { std::cos(half_angle) };
return Quaternion {
normalized_axis.x() * sine,
normalized_axis.y() * sine,
normalized_axis.z() * sine,
cosine,
};
}
}; };
template<class T> template<class T>