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jiri
2020-01-04 21:58:49 +00:00
parent 2ab28bb5e8
commit 20a34fbc52
3 changed files with 47 additions and 13 deletions
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16
quaternion.h
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@@ -21,10 +21,11 @@
#ifndef _QUATERNION_H_
#define _QUATERNION_H_
#include <stdlib.h>
#ifndef AVOID_STDSTREAM
#include <iostream>
#endif
#include <string.h>
#include <complex>
#include <cstring>
#include <math.h>
@@ -61,9 +62,12 @@ public:
const Quaternion operator-() const {Quaternion r(*this); r.q[0]= -r.q[0]; r.q[1]= -r.q[1]; r.q[2]= -r.q[2]; r.q[3]= -r.q[3]; return r;}; //unary minus
Quaternion& operator+=(const Quaternion &rhs) {q[0]+=rhs.q[0];q[1]+=rhs.q[1];q[2]+=rhs.q[2];q[3]+=rhs.q[3]; return *this;};
Quaternion& operator-=(const Quaternion &rhs) {q[0]-=rhs.q[0];q[1]-=rhs.q[1];q[2]-=rhs.q[2];q[3]-=rhs.q[3]; return *this;};
const Quaternion operator+(const Quaternion &rhs) const {return Quaternion(*this) += rhs;};
const Quaternion operator-(const Quaternion &rhs) const {return Quaternion(*this) -= rhs;};
const Quaternion operator*(const Quaternion &rhs) const;
Quaternion operator+(const Quaternion &rhs) const {return Quaternion(*this) += rhs;};
Quaternion operator-(const Quaternion &rhs) const {return Quaternion(*this) -= rhs;};
Quaternion operator*(const Quaternion &rhs) const; //regular product
Quaternion times_vec3(const T *rhs) const; //save flops for quaternions representing vectors
Quaternion vec3_times(const T *rhs) const; //save flops for quaternions representing vectors
Quaternion& conjugateme(void) {q[1] = -q[1]; q[2] = -q[2]; q[3] = -q[3]; return *this;}
Quaternion conjugate(void) const {return Quaternion(*this).conjugateme();}
T dot(const Quaternion &rhs) const {return q[0]*rhs.q[0] + q[1]*rhs.q[1] + q[2]*rhs.q[2] + q[3]*rhs.q[3];};
@@ -84,6 +88,7 @@ public:
//stream I/O
#ifndef AVOID_STDSTREAM
template <typename T>
std::istream& operator>>(std::istream &s, Quaternion<T> &x)
{
@@ -102,6 +107,7 @@ s << x.q[2]<<" ";
s << x.q[3];
return s;
}
#endif