From cfffa29e29db6b2234c7f534b1ebcd612b7f4914 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Sun, 5 Oct 2014 01:22:11 +0200
Subject: flush

---
 facetracknoir/quat.hpp | 66 ++++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 66 insertions(+)
 create mode 100644 facetracknoir/quat.hpp

(limited to 'facetracknoir/quat.hpp')

diff --git a/facetracknoir/quat.hpp b/facetracknoir/quat.hpp
new file mode 100644
index 00000000..1e268963
--- /dev/null
+++ b/facetracknoir/quat.hpp
@@ -0,0 +1,66 @@
+/* Copyright (c) 2012 Patrick Ruoff
+ *
+ * Permission to use, copy, modify, and/or distribute this software for any
+ * purpose with or without fee is hereby granted, provided that the above
+ * copyright notice and this permission notice appear in all copies.
+ */
+
+#pragma once
+#include <cmath>
+
+class Quat {
+private:
+    static constexpr double pi = 3.141592653;
+    static constexpr double r2d = 180./pi;
+    double a,b,c,d; // quaternion coefficients
+public:
+    Quat() : a(1.0),b(0.0),c(0.0),d(0.0) {}
+    Quat(double yaw, double pitch, double roll) { from_euler_rads(yaw, pitch, roll); }
+    Quat(double a, double b, double c, double d) : a(a),b(b),c(c),d(d) {}
+
+    Quat inv(){
+        return Quat(a,-b,-c, -d);
+    }
+
+    // conversions
+    // see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
+    void from_euler_rads(double yaw, double pitch, double roll)
+    {
+
+        double sin_phi = sin(roll/2.0);
+        double cos_phi = cos(roll/2.0);
+        double sin_the = sin(pitch/2.0);
+        double cos_the = cos(pitch/2.0);
+        double sin_psi = sin(yaw/2.0);
+        double cos_psi = cos(yaw/2.0);
+
+        a = cos_phi*cos_the*cos_psi + sin_phi*sin_the*sin_psi;
+        b = sin_phi*cos_the*cos_psi - cos_phi*sin_the*sin_psi;
+        c = cos_phi*sin_the*cos_psi + sin_phi*cos_the*sin_psi;
+        d = cos_phi*cos_the*sin_psi - sin_phi*sin_the*cos_psi;
+    }
+
+    void to_euler_rads(double& yaw, double& pitch, double& roll) const
+    {
+        roll = atan2(2.0*(a*b + c*d), 1.0 - 2.0*(b*b + c*c));
+        pitch = asin(2.0*(a*c - b*d));
+        yaw =  atan2(2.0*(a*d + b*c), 1.0 - 2.0*(c*c + d*d));
+    }
+
+    void to_euler_degrees(double& yaw, double& pitch, double& roll) const
+    {
+        to_euler_rads(yaw, pitch, roll);
+        yaw *= r2d;
+        pitch *= r2d;
+        roll *= r2d;
+    }
+
+    const Quat operator*(const Quat& B) const
+    {
+        const Quat& A = *this;
+        return Quat(A.a*B.a - A.b*B.b - A.c*B.c - A.d*B.d,	// quaternion multiplication
+                        A.a*B.b + A.b*B.a + A.c*B.d - A.d*B.c,
+                        A.a*B.c - A.b*B.d + A.c*B.a + A.d*B.b,
+                        A.a*B.d + A.b*B.c - A.c*B.b + A.d*B.a);
+    }
+};
-- 
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