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update quaternion implementation

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This commit is contained in:
Hartmut Seichter 2025-06-26 09:11:23 +02:00
parent d9edd85e60
commit bf14b7c5c8
1 changed files with 10 additions and 9 deletions
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19
src/core/include/pw/core/quaternion.hpp
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@ -53,8 +53,8 @@ template <std::floating_point Scalar> struct quaternion final {
return std::forward<decltype(self)>(self).q_.w(); return std::forward<decltype(self)>(self).q_.w();
} }
constexpr auto constexpr auto operator*(const quaternion& rhs) const noexcept
operator*(const quaternion& rhs) const noexcept -> quaternion { -> quaternion {
return {rhs.w() * x() + rhs.x() * w() + rhs.y() * z() - rhs.z() * y(), return {rhs.w() * x() + rhs.x() * w() + rhs.y() * z() - rhs.z() * y(),
rhs.w() * y() - rhs.x() * z() + rhs.y() * w() + rhs.z() * x(), rhs.w() * y() - rhs.x() * z() + rhs.y() * w() + rhs.z() * x(),
rhs.w() * z() + rhs.x() * y() - rhs.y() * x() + rhs.z() * w(), rhs.w() * z() + rhs.x() * y() - rhs.y() * x() + rhs.z() * w(),
@ -130,9 +130,10 @@ template <std::floating_point Scalar> struct quaternion final {
/** /**
* @note: a and b need to be normalized * @note: a and b need to be normalized
*/ */
static constexpr auto static constexpr auto slerp(const quaternion& a, const quaternion& b,
slerp(const quaternion& a, const quaternion& b, const Scalar& t, const Scalar& t,
const Scalar& eps = Scalar{0.001}) -> quaternion { const Scalar& eps = Scalar{0.001})
-> quaternion {
// Calculate angle between them. // Calculate angle between them.
const Scalar cos_half_theta{a.dot(b)}; const Scalar cos_half_theta{a.dot(b)};
@ -166,8 +167,8 @@ template <std::floating_point Scalar> struct quaternion final {
}; };
} }
static constexpr auto static constexpr auto from_axisangle(const axisangle<Scalar>& aa)
from_axisangle(const axisangle<Scalar>& aa) -> quaternion { -> quaternion {
const auto sin_half_angle{std::sin(aa.angle / Scalar{2})}; const auto sin_half_angle{std::sin(aa.angle / Scalar{2})};
@ -179,8 +180,8 @@ template <std::floating_point Scalar> struct quaternion final {
}; };
} }
constexpr static auto constexpr static auto from_matrix(const matrix<Scalar, 3, 3>& m)
from_matrix(const matrix<Scalar, 3, 3>& m) -> quaternion { -> quaternion {
const auto wtemp = const auto wtemp =
std::sqrt(Scalar{1} + m[0][0] + m[1][1] + m[2][2]) / Scalar{2}; std::sqrt(Scalar{1} + m[0][0] + m[1][1] + m[2][2]) / Scalar{2};
const auto w4 = Scalar{4} * wtemp; const auto w4 = Scalar{4} * wtemp;