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authorIgnacio Etcheverry <neikeq@users.noreply.github.com>2018-08-27 16:18:09 +0200
committerGitHub <noreply@github.com>2018-08-27 16:18:09 +0200
commit78bb53f85d97d3a5b66d9005732c3c07c1f0e636 (patch)
treea807e66bdab3822c5b6955b9079795f3f8d4943e
parent35fbb11cec6d4048704afe566d4e12563bd9fbc3 (diff)
parenta94168459004e93a9c9431d29bac04fec3850631 (diff)
Merge pull request #21205 from KellyThomas/c-sharp-feature-parity-quat
[Mono] Quat - add some missing constructors and methods
-rw-r--r--core/math/quat.cpp2
-rw-r--r--modules/mono/glue/cs_files/Basis.cs2
-rw-r--r--modules/mono/glue/cs_files/Quat.cs97
3 files changed, 71 insertions, 30 deletions
diff --git a/core/math/quat.cpp b/core/math/quat.cpp
index 67c9048a41..2251571146 100644
--- a/core/math/quat.cpp
+++ b/core/math/quat.cpp
@@ -134,7 +134,7 @@ Quat Quat::normalized() const {
}
bool Quat::is_normalized() const {
- return Math::is_equal_approx(length(), 1.0);
+ return Math::is_equal_approx(length_squared(), 1.0);
}
Quat Quat::inverse() const {
diff --git a/modules/mono/glue/cs_files/Basis.cs b/modules/mono/glue/cs_files/Basis.cs
index c280d32c61..10286f3832 100644
--- a/modules/mono/glue/cs_files/Basis.cs
+++ b/modules/mono/glue/cs_files/Basis.cs
@@ -426,7 +426,7 @@ namespace Godot
public Basis(Quat quat)
{
- real_t s = 2.0f / quat.LengthSquared();
+ real_t s = 2.0f / quat.LengthSquared;
real_t xs = quat.x * s;
real_t ys = quat.y * s;
diff --git a/modules/mono/glue/cs_files/Quat.cs b/modules/mono/glue/cs_files/Quat.cs
index c69c55d997..eaa027eb69 100644
--- a/modules/mono/glue/cs_files/Quat.cs
+++ b/modules/mono/glue/cs_files/Quat.cs
@@ -11,18 +11,11 @@ namespace Godot
[StructLayout(LayoutKind.Sequential)]
public struct Quat : IEquatable<Quat>
{
- private static readonly Quat identity = new Quat(0f, 0f, 0f, 1f);
-
public real_t x;
public real_t y;
public real_t z;
public real_t w;
- public static Quat Identity
- {
- get { return identity; }
- }
-
public real_t this[int index]
{
get
@@ -63,6 +56,16 @@ namespace Godot
}
}
+ public real_t Length
+ {
+ get { return Mathf.Sqrt(LengthSquared); }
+ }
+
+ public real_t LengthSquared
+ {
+ get { return Dot(this); }
+ }
+
public Quat CubicSlerp(Quat b, Quat preA, Quat postB, real_t t)
{
real_t t2 = (1.0f - t) * t * 2f;
@@ -76,24 +79,20 @@ namespace Godot
return x * b.x + y * b.y + z * b.z + w * b.w;
}
- public Quat Inverse()
- {
- return new Quat(-x, -y, -z, w);
- }
-
- public real_t Length()
+ public Vector3 GetEuler()
{
- return Mathf.Sqrt(LengthSquared());
+ var basis = new Basis(this);
+ return basis.GetEuler();
}
- public real_t LengthSquared()
+ public Quat Inverse()
{
- return Dot(this);
+ return new Quat(-x, -y, -z, w);
}
public Quat Normalized()
{
- return this / Length();
+ return this / Length;
}
public void Set(real_t x, real_t y, real_t z, real_t w)
@@ -103,12 +102,20 @@ namespace Godot
this.z = z;
this.w = w;
}
+
public void Set(Quat q)
{
- x = q.x;
- y = q.y;
- z = q.z;
- w = q.w;
+ this = q;
+ }
+
+ public void SetAxisAngle(Vector3 axis, real_t angle)
+ {
+ this = new Quat(axis, angle);
+ }
+
+ public void SetEuler(Vector3 eulerYXZ)
+ {
+ this = new Quat(eulerYXZ);
}
public Quat Slerp(Quat b, real_t t)
@@ -192,6 +199,9 @@ namespace Godot
return new Vector3(q.x, q.y, q.z);
}
+ // Static Readonly Properties
+ public static Quat Identity { get; } = new Quat(0f, 0f, 0f, 1f);
+
// Constructors
public Quat(real_t x, real_t y, real_t z, real_t w)
{
@@ -199,15 +209,46 @@ namespace Godot
this.y = y;
this.z = z;
this.w = w;
- }
+ }
+
+ public bool IsNormalized()
+ {
+ return Mathf.Abs(LengthSquared - 1) <= Mathf.Epsilon;
+ }
+
public Quat(Quat q)
- {
- x = q.x;
- y = q.y;
- z = q.z;
- w = q.w;
+ {
+ this = q;
+ }
+
+ public Quat(Basis basis)
+ {
+ this = basis.Quat();
}
-
+
+ public Quat(Vector3 eulerYXZ)
+ {
+ real_t half_a1 = eulerYXZ.y * (real_t)0.5;
+ real_t half_a2 = eulerYXZ.x * (real_t)0.5;
+ real_t half_a3 = eulerYXZ.z * (real_t)0.5;
+
+ // R = Y(a1).X(a2).Z(a3) convention for Euler angles.
+ // Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-6)
+ // a3 is the angle of the first rotation, following the notation in this reference.
+
+ real_t cos_a1 = Mathf.Cos(half_a1);
+ real_t sin_a1 = Mathf.Sin(half_a1);
+ real_t cos_a2 = Mathf.Cos(half_a2);
+ real_t sin_a2 = Mathf.Sin(half_a2);
+ real_t cos_a3 = Mathf.Cos(half_a3);
+ real_t sin_a3 = Mathf.Sin(half_a3);
+
+ x = sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3;
+ y = sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3;
+ z = -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3;
+ w = sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3;
+ }
+
public Quat(Vector3 axis, real_t angle)
{
real_t d = axis.Length();