Move quaternion functions to quaternion namespace

2019-03-04 01:39:33 +09:00
parent db54adaa4d
commit 884343783c
3 changed files with 17 additions and 18 deletions
@@ -1,69 +0,0 @@
-#pragma once
-
-#include <openvr.h>
-//#include <cmath>
-
-namespace utils
-{
-inline vr::HmdQuaternion_t quaternionFromHmdMatrix34( vr::HmdMatrix34_t matrix )
-{
-    vr::HmdQuaternion_t q;
-
-    q.w = sqrt( fmax( 0,
-                      static_cast<double>( 1 + matrix.m[0][0] + matrix.m[1][1]
-                                           + matrix.m[2][2] ) ) )
-          / 2;
-    q.x = sqrt( fmax( 0,
-                      static_cast<double>( 1 + matrix.m[0][0] - matrix.m[1][1]
-                                           - matrix.m[2][2] ) ) )
-          / 2;
-    q.y = sqrt( fmax( 0,
-                      static_cast<double>( 1 - matrix.m[0][0] + matrix.m[1][1]
-                                           - matrix.m[2][2] ) ) )
-          / 2;
-    q.z = sqrt( fmax( 0,
-                      static_cast<double>( 1 - matrix.m[0][0] - matrix.m[1][1]
-                                           + matrix.m[2][2] ) ) )
-          / 2;
-    q.x = copysign( q.x,
-                    static_cast<double>( matrix.m[2][1] - matrix.m[1][2] ) );
-    q.y = copysign( q.y,
-                    static_cast<double>( matrix.m[0][2] - matrix.m[2][0] ) );
-    q.z = copysign( q.z,
-                    static_cast<double>( matrix.m[1][0] - matrix.m[0][1] ) );
-    return q;
-}
-
-inline vr::HmdQuaternion_t quaternionMultiply( 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,
-    };
-}
-
-inline double quaternionGetYaw( const vr::HmdQuaternion_t& quat )
-{
-    double yawResult
-        = atan2( 2.0 * ( quat.y * quat.w + quat.x * quat.z ),
-                 ( 2.0 * ( quat.w * quat.w + quat.x * quat.x ) ) - 1.0 );
-    return yawResult;
-}
-
-} // namespace utils