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Diffstat (limited to 'core/math/quat.h')
| -rw-r--r-- | core/math/quat.h | 157 |
1 files changed, 157 insertions, 0 deletions
diff --git a/core/math/quat.h b/core/math/quat.h new file mode 100644 index 0000000000..d326073033 --- /dev/null +++ b/core/math/quat.h @@ -0,0 +1,157 @@ +/*************************************************************************/ +/* quat.h */ +/*************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* http://www.godotengine.org */ +/*************************************************************************/ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/*************************************************************************/ +#ifndef QUAT_H +#define QUAT_H + +#include "math_defs.h" +#include "math_funcs.h" +#include "ustring.h" +#include "vector3.h" + +/** + @author Juan Linietsky <reduzio@gmail.com> +*/ +class Quat{ +public: + + real_t x,y,z,w; + + _FORCE_INLINE_ real_t length_squared() const; + real_t length() const; + void normalize(); + Quat normalized() const; + Quat inverse() const; + _FORCE_INLINE_ real_t dot(const Quat& q) const; + void set_euler(const Vector3& p_euler); + Quat slerp(const Quat& q, const real_t& t) const; + Quat slerpni(const Quat& q, const real_t& t) const; + Quat cubic_slerp(const Quat& q, const Quat& prep, const Quat& postq,const real_t& t) const; + + _FORCE_INLINE_ void get_axis_and_angle(Vector3& r_axis, real_t &r_angle) const { + r_angle = 2 * Math::acos(w); + r_axis.x = -x / Math::sqrt(1-w*w); + r_axis.y = -y / Math::sqrt(1-w*w); + r_axis.z = -z / Math::sqrt(1-w*w); + } + + void operator*=(const Quat& q); + Quat operator*(const Quat& q) const; + + + _FORCE_INLINE_ void operator+=(const Quat& q); + _FORCE_INLINE_ void operator-=(const Quat& q); + _FORCE_INLINE_ void operator*=(const real_t& s); + _FORCE_INLINE_ void operator/=(const real_t& s); + _FORCE_INLINE_ Quat operator+(const Quat& q2) const; + _FORCE_INLINE_ Quat operator-(const Quat& q2) const; + _FORCE_INLINE_ Quat operator-() const; + _FORCE_INLINE_ Quat operator*(const real_t& s) const; + _FORCE_INLINE_ Quat operator/(const real_t& s) const; + + + _FORCE_INLINE_ bool operator==(const Quat& p_quat) const; + _FORCE_INLINE_ bool operator!=(const Quat& p_quat) const; + + operator String() const; + + inline void set( real_t p_x, real_t p_y, real_t p_z, real_t p_w) { + x=p_x; y=p_y; z=p_z; w=p_w; + } + inline Quat(real_t p_x, real_t p_y, real_t p_z, real_t p_w) { + x=p_x; y=p_y; z=p_z; w=p_w; + } + Quat(const Vector3& axis, const real_t& angle); + inline Quat() {x=y=z=0; w=1; } + + +}; + + +real_t Quat::dot(const Quat& q) const { + return x * q.x+y * q.y+z * q.z+w * q.w; +} + +real_t Quat::length_squared() const { + return dot(*this); +} + +void Quat::operator+=(const Quat& q) { + x += q.x; y += q.y; z += q.z; w += q.w; +} + +void Quat::operator-=(const Quat& q) { + x -= q.x; y -= q.y; z -= q.z; w -= q.w; +} + +void Quat::operator*=(const real_t& s) { + x *= s; y *= s; z *= s; w *= s; +} + + +void Quat::operator/=(const real_t& s) { + + *this *= 1.0 / s; +} + +Quat Quat::operator+(const Quat& q2) const { + const Quat& q1 = *this; + return Quat( q1.x+q2.x, q1.y+q2.y, q1.z+q2.z, q1.w+q2.w ); +} + +Quat Quat::operator-(const Quat& q2) const { + const Quat& q1 = *this; + return Quat( q1.x-q2.x, q1.y-q2.y, q1.z-q2.z, q1.w-q2.w); +} + +Quat Quat::operator-() const { + const Quat& q2 = *this; + return Quat( -q2.x, -q2.y, -q2.z, -q2.w); +} + +Quat Quat::operator*(const real_t& s) const { + return Quat(x * s, y * s, z * s, w * s); +} + +Quat Quat::operator/(const real_t& s) const { + return *this * (1.0 / s); +} + + +bool Quat::operator==(const Quat& p_quat) const { + + return x==p_quat.x && y==p_quat.y && z==p_quat.z && w==p_quat.w; +} + +bool Quat::operator!=(const Quat& p_quat) const { + + return x!=p_quat.x || y!=p_quat.y || z!=p_quat.z || w!=p_quat.w; +} + + +#endif |