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-rw-r--r--src/common/quaternion.h10
1 files changed, 5 insertions, 5 deletions
diff --git a/src/common/quaternion.h b/src/common/quaternion.h
index c528c0b68..370198ae0 100644
--- a/src/common/quaternion.h
+++ b/src/common/quaternion.h
@@ -6,12 +6,12 @@
6 6
7#include "common/vector_math.h" 7#include "common/vector_math.h"
8 8
9namespace Math { 9namespace Common {
10 10
11template <typename T> 11template <typename T>
12class Quaternion { 12class Quaternion {
13public: 13public:
14 Math::Vec3<T> xyz; 14 Vec3<T> xyz;
15 T w{}; 15 T w{};
16 16
17 Quaternion<decltype(-T{})> Inverse() const { 17 Quaternion<decltype(-T{})> Inverse() const {
@@ -38,12 +38,12 @@ public:
38}; 38};
39 39
40template <typename T> 40template <typename T>
41auto QuaternionRotate(const Quaternion<T>& q, const Math::Vec3<T>& v) { 41auto QuaternionRotate(const Quaternion<T>& q, const Vec3<T>& v) {
42 return v + 2 * Cross(q.xyz, Cross(q.xyz, v) + v * q.w); 42 return v + 2 * Cross(q.xyz, Cross(q.xyz, v) + v * q.w);
43} 43}
44 44
45inline Quaternion<float> MakeQuaternion(const Math::Vec3<float>& axis, float angle) { 45inline Quaternion<float> MakeQuaternion(const Vec3<float>& axis, float angle) {
46 return {axis * std::sin(angle / 2), std::cos(angle / 2)}; 46 return {axis * std::sin(angle / 2), std::cos(angle / 2)};
47} 47}
48 48
49} // namespace Math 49} // namespace Common