1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/src/gmath/quat.h	Fri Jul 31 04:59:28 2015 +0300
     1.3 @@ -0,0 +1,19 @@
     1.4 +#ifndef QUATERNION_H_
     1.5 +#define QUATERNION_H_
     1.6 +
     1.7 +namespace gph {
     1.8 +
     1.9 +class Quaternion {
    1.10 +public:
    1.11 +	float x, y, z, w;	// w + xi + yj + zk
    1.12 +
    1.13 +	Quaternion() : x(0), y(0), z(0), w(1) {}
    1.14 +	Quaternion(float x_, float y_, float z_, float w_) : x(x_), y(y_), z(z_), w(w_) {}
    1.15 +	Quaternion(const Vector3 &v, float s) : x(v.x), y(v.y), z(v.z), w(s) {}
    1.16 +
    1.17 +	// TODO more
    1.18 +};
    1.19 +
    1.20 +}	// namespace gph
    1.21 +
    1.22 +#endif	// QUATERNION_H_

     2.1 --- a/src/gmath/vector.h	Sat Jul 25 17:19:27 2015 +0300
     2.2 +++ b/src/gmath/vector.h	Fri Jul 31 04:59:28 2015 +0300
     2.3 @@ -13,6 +13,7 @@
     2.4  class Vector3;
     2.5  class Vector4;
     2.6  class Matrix4x4;
     2.7 +class Quaternion;
     2.8  
     2.9  class Vector2 {
    2.10  public:
    2.11 @@ -96,6 +97,14 @@
    2.12  inline Vector3 distance_sq(const Vector3 &a, const Vector3 &b);
    2.13  inline Vector3 faceforward(const Vector3 &n, const Vector3 &vi, const Vector3 &ng);
    2.14  
    2.15 +inline Vector3 major(const Vector3 &v);
    2.16 +inline int major_idx(const Vector3 &v);
    2.17 +inline Vector3 proj_axis(const Vector3 &v, const Vector3 &axis);
    2.18 +
    2.19 +inline Vector3 rotate(const Vector3 &v, const Quaternion &q);
    2.20 +inline Vector3 rotate(const Vector3 &v, const Vector3 &axis, float angle);
    2.21 +inline Vector3 rotate(const Vector3 &v, const Vector3 &euler);
    2.22 +
    2.23  }
    2.24  
    2.25  #endif	/* GMATH_VEC_H_ */

     3.1 --- a/src/gmath/vector.inl	Sat Jul 25 17:19:27 2015 +0300
     3.2 +++ b/src/gmath/vector.inl	Fri Jul 31 04:59:28 2015 +0300
     3.3 @@ -197,6 +197,42 @@
     3.4  	return dot(ng, i) < 0.0f ? n : -n;
     3.5  }
     3.6  
     3.7 +inline Vector3 major(const Vector3 &v)
     3.8 +{
     3.9 +	int m = major_idx(v);
    3.10 +	Vector3 res;
    3.11 +	res[m] = v[m];
    3.12 +	return res;
    3.13 +}
    3.14 +
    3.15 +inline int major_idx(const Vector3 &v)
    3.16 +{
    3.17 +	return fabs(v.x) >= fabs(v.y) && fabs(v.x) > fabs(v.z) ? 0 :
    3.18 +		(fabs(v.y) >= fabs(v.z) ? 1 : 2);
    3.19 +}
    3.20 +
    3.21 +inline Vector3 proj_axis(const Vector3 &v, const Vector3 &axis)
    3.22 +{
    3.23 +	return axis * dot(v, axis);
    3.24 +}
    3.25 +
    3.26 +
    3.27 +inline Vector3 rotate(const Vector3 &v, const Quaternion &q)
    3.28 +{
    3.29 +	return v;	// TODO
    3.30 +}
    3.31 +
    3.32 +inline Vector3 rotate(const Vector3 &v, const Vector3 &axis, float angle)
    3.33 +{
    3.34 +	return v;	// TODO
    3.35 +}
    3.36 +
    3.37 +inline Vector3 rotate(const Vector3 &v, const Vector3 &euler)
    3.38 +{
    3.39 +	return v;	// TODO
    3.40 +}
    3.41 +
    3.42 +
    3.43  GPH_VEC3_SWIZZLE
    3.44  
    3.45  // ---- Vector4 ----