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-rw-r--r--core/math/quat.h167
1 files changed, 87 insertions, 80 deletions
diff --git a/core/math/quat.h b/core/math/quat.h
index d3a50343a3..3fc843b83a 100644
--- a/core/math/quat.h
+++ b/core/math/quat.h
@@ -39,159 +39,166 @@
/**
@author Juan Linietsky <reduzio@gmail.com>
*/
-class Quat{
+class Quat {
public:
-
- real_t x,y,z,w;
+ 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);
+ _FORCE_INLINE_ real_t dot(const Quat &q) const;
+ void set_euler(const Vector3 &p_euler);
Vector3 get_euler() const;
- 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;
+ 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 {
+ _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);
+ 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;
-
-
+ void operator*=(const Quat &q);
+ Quat operator*(const Quat &q) const;
- Quat operator*(const Vector3& v) const
- {
- return Quat( w * v.x + y * v.z - z * v.y,
- w * v.y + z * v.x - x * v.z,
- w * v.z + x * v.y - y * v.x,
- -x * v.x - y * v.y - z * v.z);
+ Quat operator*(const Vector3 &v) const {
+ return Quat(w * v.x + y * v.z - z * v.y,
+ w * v.y + z * v.x - x * v.z,
+ w * v.z + x * v.y - y * v.x,
+ -x * v.x - y * v.y - z * v.z);
}
- _FORCE_INLINE_ Vector3 xform(const Vector3& v) const {
+ _FORCE_INLINE_ Vector3 xform(const Vector3 &v) const {
Quat q = *this * v;
q *= this->inverse();
- return Vector3(q.x,q.y,q.z);
+ return Vector3(q.x, q.y, q.z);
}
- _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_ 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_ 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;
+ _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 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;
+ x = p_x;
+ y = p_y;
+ z = p_z;
+ w = p_w;
}
- Quat(const Vector3& axis, const real_t& angle);
+ Quat(const Vector3 &axis, const real_t &angle);
- Quat(const Vector3& v0, const Vector3& v1) // shortest arc
+ Quat(const Vector3 &v0, const Vector3 &v1) // shortest arc
{
Vector3 c = v0.cross(v1);
- real_t d = v0.dot(v1);
+ real_t d = v0.dot(v1);
if (d < -1.0 + CMP_EPSILON) {
- x=0;
- y=1;
- z=0;
- w=0;
+ x = 0;
+ y = 1;
+ z = 0;
+ w = 0;
} else {
- real_t s = Math::sqrt((1.0 + d) * 2.0);
+ real_t s = Math::sqrt((1.0 + d) * 2.0);
real_t rs = 1.0 / s;
- x=c.x*rs;
- y=c.y*rs;
- z=c.z*rs;
- w=s * 0.5;
+ x = c.x * rs;
+ y = c.y * rs;
+ z = c.z * rs;
+ w = s * 0.5;
}
}
- inline Quat() {x=y=z=0; w=1; }
-
-
+ 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::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 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) {
+ x *= s;
+ y *= s;
+ z *= s;
+ w *= s;
}
-
-void Quat::operator/=(const real_t& 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 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);
+ const Quat &q2 = *this;
+ return Quat(-q2.x, -q2.y, -q2.z, -q2.w);
}
-Quat Quat::operator*(const real_t& s) const {
+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 {
+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;
}
-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
generated by cgit v1.2.3 (git 2.25.1) at 2024-11-22 04:18:05 +0000