Move quaternion functions to quaternion namespace

build_scripts/qt/sources.pri

@@ -31,7 +31,7 @@ HEADERS += src/overlaycontroller.h \
     src/tabcontrollers/KeyboardInput.h \
     src/utils/Matrix.h \
     src/utils/ChaperoneUtils.h \
-    src/utils/quaternion.h \
+    src/quaternion/quaternion.h \
     src/tabcontrollers/audiomanager/AudioManagerDummy.h \
     src/tabcontrollers/keyboardinput/KeyboardInputDummy.h \
     src/overlaycontroller/openvr_init.h \

src/quaternion/quaternion.h

@@ -3,9 +3,9 @@
 #include <openvr.h>
 //#include <cmath>
 
-namespace utils
+namespace quaternion
 {
-inline vr::HmdQuaternion_t quaternionFromHmdMatrix34( vr::HmdMatrix34_t matrix )
+inline vr::HmdQuaternion_t fromHmdMatrix34( vr::HmdMatrix34_t matrix )
 {
     vr::HmdQuaternion_t q;
 
@@ -34,8 +34,8 @@ inline vr::HmdQuaternion_t quaternionFromHmdMatrix34( vr::HmdMatrix34_t matrix )
     return q;
 }
 
-inline vr::HmdQuaternion_t quaternionMultiply( const vr::HmdQuaternion_t& lhs,
+inline vr::HmdQuaternion_t multiply( const vr::HmdQuaternion_t& lhs,
-                                               const vr::HmdQuaternion_t& rhs )
+                                     const vr::HmdQuaternion_t& rhs )
 {
     return { ( lhs.w * rhs.w ) - ( lhs.x * rhs.x ) - ( lhs.y * rhs.y )
                  - ( lhs.z * rhs.z ),
@@ -47,8 +47,7 @@ inline vr::HmdQuaternion_t quaternionMultiply( const vr::HmdQuaternion_t& lhs,
                  - ( lhs.y * rhs.x ) };
 }
 
-inline vr::HmdQuaternion_t
+inline vr::HmdQuaternion_t conjugate( const vr::HmdQuaternion_t& quat )
-    quaternionConjugate( const vr::HmdQuaternion_t& quat )
 {
     return {
         quat.w,
@@ -58,7 +57,7 @@ inline vr::HmdQuaternion_t
     };
 }
 
-inline double quaternionGetYaw( const vr::HmdQuaternion_t& quat )
+inline double getYaw( const vr::HmdQuaternion_t& quat )
 {
     double yawResult
         = atan2( 2.0 * ( quat.y * quat.w + quat.x * quat.z ),
@@ -66,4 +65,4 @@ inline double quaternionGetYaw( const vr::HmdQuaternion_t& quat )
     return yawResult;
 }
 
-} // namespace utils
+} // namespace quaternion

src/tabcontrollers/MoveCenterTabController.cpp

@@ -2,7 +2,7 @@
 #include <QQuickWindow>
 #include "../overlaycontroller.h"
 #include "../utils/Matrix.h"
-#include "../utils/quaternion.h"
+#include "../quaternion/quaternion.h"
 
 void rotateCoordinates( double coordinates[3], double angle )
 {
@@ -1259,7 +1259,7 @@ void MoveCenterTabController::updateHmdRotationCounter(
     utils::matMul33( hmdMatrixAbsolute, hmdMatrixRotMat, hmdMatrix );
 
     // Convert pose matrix to quaternion
-    m_hmdQuaternion = utils::quaternionFromHmdMatrix34( hmdMatrixAbsolute );
+    m_hmdQuaternion = quaternion::fromHmdMatrix34( hmdMatrixAbsolute );
 
     // Get rotation change of hmd
     // Checking for invalid quaternion using < because == isn't guaranteed
@@ -1271,11 +1271,11 @@ void MoveCenterTabController::updateHmdRotationCounter(
     }
     // Construct a quaternion representing difference between old
     // hmd pose and new hmd pose.
-    vr::HmdQuaternion_t hmdDiffQuaternion = utils::quaternionMultiply(
+    vr::HmdQuaternion_t hmdDiffQuaternion = quaternion::multiply(
-        m_hmdQuaternion, utils::quaternionConjugate( m_lastHmdQuaternion ) );
+        m_hmdQuaternion, quaternion::conjugate( m_lastHmdQuaternion ) );
 
     // Calculate yaw from quaternion.
-    double hmdYawDiff = utils::quaternionGetYaw( hmdDiffQuaternion );
+    double hmdYawDiff = quaternion::getYaw( hmdDiffQuaternion );
 
     // Apply yaw difference to m_hmdYawTotal.
     m_hmdYawTotal += hmdYawDiff;
@@ -1428,7 +1428,7 @@ void MoveCenterTabController::updateHandTurn(
     utils::matMul33( handMatrixAbsolute, handMatrixRotMat, handMatrix );
 
     // Convert pose matrix to quaternion
-    m_handQuaternion = utils::quaternionFromHmdMatrix34( handMatrixAbsolute );
+    m_handQuaternion = quaternion::fromHmdMatrix34( handMatrixAbsolute );
 
     if ( m_lastRotateHand == m_activeTurnHand )
     {
@@ -1444,12 +1444,12 @@ void MoveCenterTabController::updateHandTurn(
         {
             // Construct a quaternion representing difference
             // between old hand and new hand.
-            vr::HmdQuaternion_t handDiffQuaternion = utils::quaternionMultiply(
+            vr::HmdQuaternion_t handDiffQuaternion = quaternion::multiply(
                 m_handQuaternion,
-                utils::quaternionConjugate( m_lastHandQuaternion ) );
+                quaternion::conjugate( m_lastHandQuaternion ) );
 
             // Calculate yaw from quaternion.
-            double handYawDiff = utils::quaternionGetYaw( handDiffQuaternion );
+            double handYawDiff = quaternion::getYaw( handDiffQuaternion );
 
             int newRotationAngleDeg = static_cast<int>(
                 round( handYawDiff * k_radiansToCentidegrees ) + m_rotation );