Game Development Reference

In-Depth Information

We n o w h a v e a
Quaternion
class that contains all the functionality we need for the

rest of the engine. As with vectors and matrices, there are a lot of other operations

we could addâ€”more conversions, other mathematical operators. If you are using an

existing quaternion library, it might have other functions defined, but since we will

not need them, I will avoid giving implementations that we won't use.

9.5

S
UMMARY

We have come a long way in this chapter, and if you weren't familiar with matrices and

quaternions before, then this has been a big step. We've now met all the mathematics

we need to see us through to our final physics engine.

In this chapter I've hinted at the way some of this mathematics is used in the

engine. Chapter 10 starts to rebuild our engine to support full 3D rigid bodies, with

angularaswellaslinearmotion.