diff options
Diffstat (limited to 'core/math/quat.h')
| -rw-r--r-- | core/math/quat.h | 30 |
1 files changed, 26 insertions, 4 deletions
diff --git a/core/math/quat.h b/core/math/quat.h index 64d0f00912..f8ab537d7b 100644 --- a/core/math/quat.h +++ b/core/math/quat.h @@ -36,12 +36,26 @@ #include "core/math/math_defs.h" #include "core/math/math_funcs.h" -#include "core/ustring.h" +#include "core/string/ustring.h" class Quat { public: - real_t x = 0, y = 0, z = 0, w = 1; - + union { + struct { + real_t x; + real_t y; + real_t z; + real_t w; + }; + real_t components[4] = { 0, 0, 0, 1.0 }; + }; + + _FORCE_INLINE_ real_t &operator[](int idx) { + return components[idx]; + } + _FORCE_INLINE_ const real_t &operator[](int idx) const { + return components[idx]; + } _FORCE_INLINE_ real_t length_squared() const; bool is_equal_approx(const Quat &p_quat) const; real_t length() const; @@ -91,6 +105,10 @@ public: return v + ((uv * w) + u.cross(uv)) * ((real_t)2); } + _FORCE_INLINE_ Vector3 xform_inv(const Vector3 &v) const { + return inverse().xform(v); + } + _FORCE_INLINE_ void operator+=(const Quat &q); _FORCE_INLINE_ void operator-=(const Quat &q); _FORCE_INLINE_ void operator*=(const real_t &s); @@ -130,7 +148,7 @@ public: w(q.w) { } - Quat operator=(const Quat &q) { + Quat &operator=(const Quat &q) { x = q.x; y = q.y; z = q.z; @@ -224,4 +242,8 @@ 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; } +_FORCE_INLINE_ Quat operator*(const real_t &p_real, const Quat &p_quat) { + return p_quat * p_real; +} + #endif // QUAT_H |