yuzu/src/common/quaternion.h

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chore: make yuzu REUSE compliant [REUSE] is a specification that aims at making file copyright information consistent, so that it can be both human and machine readable. It basically requires that all files have a header containing copyright and licensing information. When this isn't possible, like when dealing with binary assets, generated files or embedded third-party dependencies, it is permitted to insert copyright information in the `.reuse/dep5` file. Oh, and it also requires that all the licenses used in the project are present in the `LICENSES` folder, that's why the diff is so huge. This can be done automatically with `reuse download --all`. The `reuse` tool also contains a handy subcommand that analyzes the project and tells whether or not the project is (still) compliant, `reuse lint`. Following REUSE has a few advantages over the current approach: - Copyright information is easy to access for users / downstream - Files like `dist/license.md` do not need to exist anymore, as `.reuse/dep5` is used instead - `reuse lint` makes it easy to ensure that copyright information of files like binary assets / images is always accurate and up to date To add copyright information of files that didn't have it I looked up who committed what and when, for each file. As yuzu contributors do not have to sign a CLA or similar I couldn't assume that copyright ownership was of the "yuzu Emulator Project", so I used the name and/or email of the commit author instead. [REUSE]: https://reuse.software Follow-up to 01cf05bc75b1e47beb08937439f3ed9339e7b254
2022-05-15 02:06:02 +02:00
// SPDX-FileCopyrightText: 2016 Citra Emulator Project
// SPDX-License-Identifier: GPL-2.0-or-later
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#pragma once
#include "common/vector_math.h"
namespace Common {
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template <typename T>
class Quaternion {
public:
Vec3<T> xyz;
T w{};
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[[nodiscard]] Quaternion<decltype(-T{})> Inverse() const {
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return {-xyz, w};
}
[[nodiscard]] Quaternion<decltype(T{} + T{})> operator+(const Quaternion& other) const {
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return {xyz + other.xyz, w + other.w};
}
[[nodiscard]] Quaternion<decltype(T{} - T{})> operator-(const Quaternion& other) const {
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return {xyz - other.xyz, w - other.w};
}
[[nodiscard]] Quaternion<decltype(T{} * T{} - T{} * T{})> operator*(
const Quaternion& other) const {
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return {xyz * other.w + other.xyz * w + Cross(xyz, other.xyz),
w * other.w - Dot(xyz, other.xyz)};
}
[[nodiscard]] Quaternion<T> Normalized() const {
T length = std::sqrt(xyz.Length2() + w * w);
return {xyz / length, w / length};
}
[[nodiscard]] std::array<decltype(-T{}), 16> ToMatrix() const {
const T x2 = xyz[0] * xyz[0];
const T y2 = xyz[1] * xyz[1];
const T z2 = xyz[2] * xyz[2];
const T xy = xyz[0] * xyz[1];
const T wz = w * xyz[2];
const T xz = xyz[0] * xyz[2];
const T wy = w * xyz[1];
const T yz = xyz[1] * xyz[2];
const T wx = w * xyz[0];
return {1.0f - 2.0f * (y2 + z2),
2.0f * (xy + wz),
2.0f * (xz - wy),
0.0f,
2.0f * (xy - wz),
1.0f - 2.0f * (x2 + z2),
2.0f * (yz + wx),
0.0f,
2.0f * (xz + wy),
2.0f * (yz - wx),
1.0f - 2.0f * (x2 + y2),
0.0f,
0.0f,
0.0f,
0.0f,
1.0f};
}
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};
template <typename T>
[[nodiscard]] auto QuaternionRotate(const Quaternion<T>& q, const Vec3<T>& v) {
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return v + 2 * Cross(q.xyz, Cross(q.xyz, v) + v * q.w);
}
[[nodiscard]] inline Quaternion<float> MakeQuaternion(const Vec3<float>& axis, float angle) {
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return {axis * std::sin(angle / 2), std::cos(angle / 2)};
}
} // namespace Common