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Add geom::quaternion::i,j,k

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This commit is contained in:
Nikita Lisitsa 2022-01-12 19:18:39 +03:00
parent 7babed1c57
commit fdaaf58d20
1 changed files with 21 additions and 0 deletions
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21
libs/geom/include/psemek/geom/quaternion.hpp
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@ -17,6 +17,9 @@ namespace psemek::geom
static quaternion<T> zero(); static quaternion<T> zero();
static quaternion<T> identity(); static quaternion<T> identity();
static quaternion<T> i();
static quaternion<T> j();
static quaternion<T> k();
static quaternion<T> scalar(T value); static quaternion<T> scalar(T value);
static quaternion<T> vector(geom::vector<T, 3> const & v); static quaternion<T> vector(geom::vector<T, 3> const & v);
static quaternion<T> rotation(T angle, geom::vector<T, 3> const & axis); static quaternion<T> rotation(T angle, geom::vector<T, 3> const & axis);
@ -48,6 +51,24 @@ namespace psemek::geom
return quaternion<T>{{T(0), T(0), T(0), T(1)}}; return quaternion<T>{{T(0), T(0), T(0), T(1)}};
} }
template <typename T>
quaternion<T> quaternion<T>::i()
{
return quaternion<T>{{T(1), T(0), T(0), T(0)}};
}
template <typename T>
quaternion<T> quaternion<T>::j()
{
return quaternion<T>{{T(0), T(1), T(0), T(0)}};
}
template <typename T>
quaternion<T> quaternion<T>::k()
{
return quaternion<T>{{T(0), T(0), T(1), T(0)}};
}
template <typename T> template <typename T>
quaternion<T> quaternion<T>::scalar(T value) quaternion<T> quaternion<T>::scalar(T value)
{ {