Create quaternion.h to centralize quaternion math

2019-02-02 22:36:19 +09:00
parent 95be1a4aab
commit 5832eea951
4 changed files with 73 additions and 69 deletions
@@ -107,50 +107,4 @@ inline vr::HmdVector3_t& matMul33( vr::HmdVector3_t& result,
    return result;
 }

-inline vr::HmdQuaternion_t getQuaternion( vr::HmdMatrix34_t matrix )
-{
-    vr::HmdQuaternion_t q;
-
-    q.w = sqrt(
-              fmax( 0, 1 + matrix.m[0][0] + matrix.m[1][1] + matrix.m[2][2] ) )
-          / 2;
-    q.x = sqrt(
-              fmax( 0, 1 + matrix.m[0][0] - matrix.m[1][1] - matrix.m[2][2] ) )
-          / 2;
-    q.y = sqrt(
-              fmax( 0, 1 - matrix.m[0][0] + matrix.m[1][1] - matrix.m[2][2] ) )
-          / 2;
-    q.z = sqrt(
-              fmax( 0, 1 - matrix.m[0][0] - matrix.m[1][1] + matrix.m[2][2] ) )
-          / 2;
-    q.x = copysign( q.x, matrix.m[2][1] - matrix.m[1][2] );
-    q.y = copysign( q.y, matrix.m[0][2] - matrix.m[2][0] );
-    q.z = copysign( q.z, matrix.m[1][0] - matrix.m[0][1] );
-    return q;
-}
-
-inline vr::HmdQuaternion_t multiplyQuaternion( const vr::HmdQuaternion_t& lhs,
-                                               const vr::HmdQuaternion_t& rhs )
-{
-    return { ( lhs.w * rhs.w ) - ( lhs.x * rhs.x ) - ( lhs.y * rhs.y )
-                 - ( lhs.z * rhs.z ),
-             ( lhs.w * rhs.x ) + ( lhs.x * rhs.w ) + ( lhs.y * rhs.z )
-                 - ( lhs.z * rhs.y ),
-             ( lhs.w * rhs.y ) + ( lhs.y * rhs.w ) + ( lhs.z * rhs.x )
-                 - ( lhs.x * rhs.z ),
-             ( lhs.w * rhs.z ) + ( lhs.z * rhs.w ) + ( lhs.x * rhs.y )
-                 - ( lhs.y * rhs.x ) };
-}
-
-inline vr::HmdQuaternion_t
-    quaternionConjugate( const vr::HmdQuaternion_t& quat )
-{
-    return {
-        quat.w,
-        -quat.x,
-        -quat.y,
-        -quat.z,
-    };
-}
-
 } // end namespace utils