upload

Math/Quat_Multiply.cpp

@@ -1,31 +1,31 @@
-#include <iostream>
+#include <iostream>
-
+
-template<typename T>
+template<typename T>
-struct Quaternion {
+struct Quaternion {
-    T w, x, y, z;
+    T w, x, y, z;
-};
+};
-
+
-template<typename T>
+template<typename T>
-Quaternion<T> quat_multiply(Quaternion<T> A, Quaternion<T> B) {
+Quaternion<T> quat_multiply(Quaternion<T> A, Quaternion<T> B) {
-    return {
+    return {
-        B.w * A.w - B.x * A.x - B.y * A.y - B.z * A.z,
+        B.w * A.w - B.x * A.x - B.y * A.y - B.z * A.z,
-        B.w * A.x + B.x * A.w - B.y * A.z + B.z * A.y,
+        B.w * A.x + B.x * A.w - B.y * A.z + B.z * A.y,
-        B.w * A.y + B.x * A.z + B.y * A.w - B.z * A.x,
+        B.w * A.y + B.x * A.z + B.y * A.w - B.z * A.x,
-        B.w * A.z - B.x * A.y + B.y * A.x + B.z * A.w
+        B.w * A.z - B.x * A.y + B.y * A.x + B.z * A.w
-    };
+    };
-}
+}
-
+
-int main() {
+int main() {
-    Quaternion<double> q1 = {1.0f, 0.0f, 0.0f, 0.0f};
+    Quaternion<double> q1 = {1.0f, 0.0f, 0.0f, 0.0f};
-    Quaternion<double> q2 = {0.5f, 0.5f, 0.5f, 0.5f};
+    Quaternion<double> q2 = {0.5f, 0.5f, 0.5f, 0.5f};
-    
+    
-    Quaternion<double> result = quat_multiply(q1, q2);  // Returns the result!
+    Quaternion<double> result = quat_multiply(q1, q2);  // Returns the result!
-    
+    
-    std::cout << "Result: (" 
+    std::cout << "Result: (" 
-              << result.w << ", "
+              << result.w << ", "
-              << result.x << ", "
+              << result.x << ", "
-              << result.y << ", "
+              << result.y << ", "
-              << result.z << ")" << std::endl;
+              << result.z << ")" << std::endl;
-    
+    
-    return 0;
+    return 0;
 }