Quaternion library cleanups and code style

okalachev · Dec 13, 2023 · efc719c · efc719c
1 parent c156ac9
commit efc719c
Showing 1 changed file with 2 additions and 23 deletions.
diff --git a/flix/quaternion.h b/flix/quaternion.h
@@ -70,22 +70,6 @@ class Quaternion : public Printable {
  return ret;
  }
 
- static Quaternion _fromBetweenVectors(float a, float b, float c, float x, float y, float z)
- {
- float dot = a * x + b * y + c * z;
- float w1 = b * z - c * y;
- float w2 = c * x - a * z;
- float w3 = a * y - b * x;
-
- Quaternion ret(
- dot + sqrt(dot * dot + w1 * w1 + w2 * w2 + w3 * w3),
- w1,
- w2,
- w3);
- ret.normalize();
- return ret;
- };
-
  void toAxisAngle(float& a, float& b, float& c, float& angle)
  {
  angle = acos(w) * 2;
@@ -130,12 +114,7 @@ class Quaternion : public Printable {
  (*this) = Quaternion::fromEulerZYX(euler.x, euler.y, yaw);
  }
 
- void toAngularRates(float& x, float& y, float& z)
- {
- // this->toAxisAngle(); // TODO:
- }
-
- Quaternion & operator*=(const Quaternion &q)
+ Quaternion& operator *= (const Quaternion& q)
  {
  Quaternion ret(
  w * q.w - x * q.x - y * q.y - z * q.z,
@@ -145,7 +124,7 @@ class Quaternion : public Printable {
  return (*this = ret);
  }
 
- Quaternion operator*(const Quaternion& q)
+ Quaternion operator * (const Quaternion& q)
  {
  return Quaternion(
  w * q.w - x * q.x - y * q.y - z * q.z,