df72480395
Now that clang-format makes [[nodiscard]] attributes format sensibly, we can apply them to several functions within the common library to allow the compiler to complain about any misuses of the functions.
50 lines
1.4 KiB
C++
50 lines
1.4 KiB
C++
// Copyright 2016 Citra Emulator Project
|
|
// Licensed under GPLv2 or any later version
|
|
// Refer to the license.txt file included.
|
|
|
|
#pragma once
|
|
|
|
#include "common/vector_math.h"
|
|
|
|
namespace Common {
|
|
|
|
template <typename T>
|
|
class Quaternion {
|
|
public:
|
|
Vec3<T> xyz;
|
|
T w{};
|
|
|
|
[[nodiscard]] Quaternion<decltype(-T{})> Inverse() const {
|
|
return {-xyz, w};
|
|
}
|
|
|
|
[[nodiscard]] Quaternion<decltype(T{} + T{})> operator+(const Quaternion& other) const {
|
|
return {xyz + other.xyz, w + other.w};
|
|
}
|
|
|
|
[[nodiscard]] Quaternion<decltype(T{} - T{})> operator-(const Quaternion& other) const {
|
|
return {xyz - other.xyz, w - other.w};
|
|
}
|
|
|
|
[[nodiscard]] Quaternion<decltype(T{} * T{} - T{} * T{})> operator*(
|
|
const Quaternion& other) const {
|
|
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};
|
|
}
|
|
};
|
|
|
|
template <typename T>
|
|
[[nodiscard]] auto QuaternionRotate(const Quaternion<T>& q, const Vec3<T>& v) {
|
|
return v + 2 * Cross(q.xyz, Cross(q.xyz, v) + v * q.w);
|
|
}
|
|
|
|
[[nodiscard]] inline Quaternion<float> MakeQuaternion(const Vec3<float>& axis, float angle) {
|
|
return {axis * std::sin(angle / 2), std::cos(angle / 2)};
|
|
}
|
|
|
|
} // namespace Common
|