diff options
Diffstat (limited to 'core/math/quaternion.h')
| -rw-r--r-- | core/math/quaternion.h | 34 |
1 files changed, 15 insertions, 19 deletions
diff --git a/core/math/quaternion.h b/core/math/quaternion.h index 35324323b3..9801746659 100644 --- a/core/math/quaternion.h +++ b/core/math/quaternion.h @@ -5,8 +5,8 @@ /* GODOT ENGINE */ /* https://godotengine.org */ /*************************************************************************/ -/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */ +/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ +/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ /* */ /* Permission is hereby granted, free of charge, to any person obtaining */ /* a copy of this software and associated documentation files (the */ @@ -36,8 +36,7 @@ #include "core/math/vector3.h" #include "core/string/ustring.h" -class Quaternion { -public: +struct _NO_DISCARD_ Quaternion { union { struct { real_t x; @@ -61,6 +60,8 @@ public: Quaternion normalized() const; bool is_normalized() const; Quaternion inverse() const; + Quaternion log() const; + Quaternion exp() const; _FORCE_INLINE_ real_t dot(const Quaternion &p_q) const; real_t angle_to(const Quaternion &p_to) const; @@ -72,6 +73,9 @@ public: Quaternion slerpni(const Quaternion &p_to, const real_t &p_weight) const; Quaternion cubic_slerp(const Quaternion &p_b, const Quaternion &p_pre_a, const Quaternion &p_post_b, const real_t &p_weight) const; + Vector3 get_axis() const; + float get_angle() const; + _FORCE_INLINE_ void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { r_angle = 2 * Math::acos(w); real_t r = ((real_t)1) / Math::sqrt(1 - w * w); @@ -83,13 +87,6 @@ public: void operator*=(const Quaternion &p_q); Quaternion operator*(const Quaternion &p_q) const; - Quaternion operator*(const Vector3 &v) const { - return Quaternion(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 { #ifdef MATH_CHECKS ERR_FAIL_COND_V_MSG(!is_normalized(), v, "The quaternion must be normalized."); @@ -138,12 +135,11 @@ public: w(p_q.w) { } - Quaternion &operator=(const Quaternion &p_q) { + void operator=(const Quaternion &p_q) { x = p_q.x; y = p_q.y; z = p_q.z; w = p_q.w; - return *this; } Quaternion(const Vector3 &v0, const Vector3 &v1) // shortest arc @@ -151,19 +147,19 @@ public: Vector3 c = v0.cross(v1); real_t d = v0.dot(v1); - if (d < -1.0 + CMP_EPSILON) { + if (d < -1.0f + (real_t)CMP_EPSILON) { x = 0; y = 1; z = 0; w = 0; } else { - real_t s = Math::sqrt((1.0 + d) * 2.0); - real_t rs = 1.0 / s; + real_t s = Math::sqrt((1.0f + d) * 2.0f); + real_t rs = 1.0f / s; x = c.x * rs; y = c.y * rs; z = c.z * rs; - w = s * 0.5; + w = s * 0.5f; } } }; @@ -198,7 +194,7 @@ void Quaternion::operator*=(const real_t &s) { } void Quaternion::operator/=(const real_t &s) { - *this *= 1.0 / s; + *this *= 1.0f / s; } Quaternion Quaternion::operator+(const Quaternion &q2) const { @@ -221,7 +217,7 @@ Quaternion Quaternion::operator*(const real_t &s) const { } Quaternion Quaternion::operator/(const real_t &s) const { - return *this * (1.0 / s); + return *this * (1.0f / s); } bool Quaternion::operator==(const Quaternion &p_quaternion) const { |