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-rw-r--r--modules/mono/glue/Managed/Files/Quat.cs378
1 files changed, 378 insertions, 0 deletions
diff --git a/modules/mono/glue/Managed/Files/Quat.cs b/modules/mono/glue/Managed/Files/Quat.cs
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+++ b/modules/mono/glue/Managed/Files/Quat.cs
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+using System;
+using System.Runtime.InteropServices;
+#if REAL_T_IS_DOUBLE
+using real_t = System.Double;
+#else
+using real_t = System.Single;
+#endif
+
+namespace Godot
+{
+ [StructLayout(LayoutKind.Sequential)]
+ public struct Quat : IEquatable<Quat>
+ {
+ public real_t x;
+ public real_t y;
+ public real_t z;
+ public real_t w;
+
+ public real_t this[int index]
+ {
+ get
+ {
+ switch (index)
+ {
+ case 0:
+ return x;
+ case 1:
+ return y;
+ case 2:
+ return z;
+ case 3:
+ return w;
+ default:
+ throw new IndexOutOfRangeException();
+ }
+ }
+ set
+ {
+ switch (index)
+ {
+ case 0:
+ x = value;
+ break;
+ case 1:
+ y = value;
+ break;
+ case 2:
+ z = value;
+ break;
+ case 3:
+ w = value;
+ break;
+ default:
+ throw new IndexOutOfRangeException();
+ }
+ }
+ }
+
+ 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;
+ Quat sp = Slerp(b, t);
+ Quat sq = preA.Slerpni(postB, t);
+ return sp.Slerpni(sq, t2);
+ }
+
+ public real_t Dot(Quat b)
+ {
+ return x * b.x + y * b.y + z * b.z + w * b.w;
+ }
+
+ public Vector3 GetEuler()
+ {
+ var basis = new Basis(this);
+ return basis.GetEuler();
+ }
+
+ public Quat Inverse()
+ {
+ return new Quat(-x, -y, -z, w);
+ }
+
+ public Quat Normalized()
+ {
+ return this / Length;
+ }
+
+ public void Set(real_t x, real_t y, real_t z, real_t w)
+ {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ this.w = w;
+ }
+
+ public void Set(Quat q)
+ {
+ 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)
+ {
+ // Calculate cosine
+ real_t cosom = x * b.x + y * b.y + z * b.z + w * b.w;
+
+ var to1 = new real_t[4];
+
+ // Adjust signs if necessary
+ if (cosom < 0.0)
+ {
+ cosom = -cosom; to1[0] = -b.x;
+ to1[1] = -b.y;
+ to1[2] = -b.z;
+ to1[3] = -b.w;
+ }
+ else
+ {
+ to1[0] = b.x;
+ to1[1] = b.y;
+ to1[2] = b.z;
+ to1[3] = b.w;
+ }
+
+ real_t sinom, scale0, scale1;
+
+ // Calculate coefficients
+ if (1.0 - cosom > Mathf.Epsilon)
+ {
+ // Standard case (Slerp)
+ real_t omega = Mathf.Acos(cosom);
+ sinom = Mathf.Sin(omega);
+ scale0 = Mathf.Sin((1.0f - t) * omega) / sinom;
+ scale1 = Mathf.Sin(t * omega) / sinom;
+ }
+ else
+ {
+ // Quaternions are very close so we can do a linear interpolation
+ scale0 = 1.0f - t;
+ scale1 = t;
+ }
+
+ // Calculate final values
+ return new Quat
+ (
+ scale0 * x + scale1 * to1[0],
+ scale0 * y + scale1 * to1[1],
+ scale0 * z + scale1 * to1[2],
+ scale0 * w + scale1 * to1[3]
+ );
+ }
+
+ public Quat Slerpni(Quat b, real_t t)
+ {
+ real_t dot = Dot(b);
+
+ if (Mathf.Abs(dot) > 0.9999f)
+ {
+ return this;
+ }
+
+ real_t theta = Mathf.Acos(dot);
+ real_t sinT = 1.0f / Mathf.Sin(theta);
+ real_t newFactor = Mathf.Sin(t * theta) * sinT;
+ real_t invFactor = Mathf.Sin((1.0f - t) * theta) * sinT;
+
+ return new Quat
+ (
+ invFactor * x + newFactor * b.x,
+ invFactor * y + newFactor * b.y,
+ invFactor * z + newFactor * b.z,
+ invFactor * w + newFactor * b.w
+ );
+ }
+
+ public Vector3 Xform(Vector3 v)
+ {
+ Quat q = this * v;
+ q *= Inverse();
+ 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)
+ {
+ this.x = x;
+ this.y = y;
+ this.z = z;
+ this.w = w;
+ }
+
+ public bool IsNormalized()
+ {
+ return Mathf.Abs(LengthSquared - 1) <= Mathf.Epsilon;
+ }
+
+ public Quat(Quat q)
+ {
+ 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();
+ real_t angle_t = angle;
+
+ if (d == 0f)
+ {
+ x = 0f;
+ y = 0f;
+ z = 0f;
+ w = 0f;
+ }
+ else
+ {
+ real_t s = Mathf.Sin(angle_t * 0.5f) / d;
+
+ x = axis.x * s;
+ y = axis.y * s;
+ z = axis.z * s;
+ w = Mathf.Cos(angle_t * 0.5f);
+ }
+ }
+
+ public static Quat operator *(Quat left, Quat right)
+ {
+ return new Quat
+ (
+ left.w * right.x + left.x * right.w + left.y * right.z - left.z * right.y,
+ left.w * right.y + left.y * right.w + left.z * right.x - left.x * right.z,
+ left.w * right.z + left.z * right.w + left.x * right.y - left.y * right.x,
+ left.w * right.w - left.x * right.x - left.y * right.y - left.z * right.z
+ );
+ }
+
+ public static Quat operator +(Quat left, Quat right)
+ {
+ return new Quat(left.x + right.x, left.y + right.y, left.z + right.z, left.w + right.w);
+ }
+
+ public static Quat operator -(Quat left, Quat right)
+ {
+ return new Quat(left.x - right.x, left.y - right.y, left.z - right.z, left.w - right.w);
+ }
+
+ public static Quat operator -(Quat left)
+ {
+ return new Quat(-left.x, -left.y, -left.z, -left.w);
+ }
+
+ public static Quat operator *(Quat left, Vector3 right)
+ {
+ return new Quat
+ (
+ left.w * right.x + left.y * right.z - left.z * right.y,
+ left.w * right.y + left.z * right.x - left.x * right.z,
+ left.w * right.z + left.x * right.y - left.y * right.x,
+ -left.x * right.x - left.y * right.y - left.z * right.z
+ );
+ }
+
+ public static Quat operator *(Vector3 left, Quat right)
+ {
+ return new Quat
+ (
+ right.w * left.x + right.y * left.z - right.z * left.y,
+ right.w * left.y + right.z * left.x - right.x * left.z,
+ right.w * left.z + right.x * left.y - right.y * left.x,
+ -right.x * left.x - right.y * left.y - right.z * left.z
+ );
+ }
+
+ public static Quat operator *(Quat left, real_t right)
+ {
+ return new Quat(left.x * right, left.y * right, left.z * right, left.w * right);
+ }
+
+ public static Quat operator *(real_t left, Quat right)
+ {
+ return new Quat(right.x * left, right.y * left, right.z * left, right.w * left);
+ }
+
+ public static Quat operator /(Quat left, real_t right)
+ {
+ return left * (1.0f / right);
+ }
+
+ public static bool operator ==(Quat left, Quat right)
+ {
+ return left.Equals(right);
+ }
+
+ public static bool operator !=(Quat left, Quat right)
+ {
+ return !left.Equals(right);
+ }
+
+ public override bool Equals(object obj)
+ {
+ if (obj is Vector2)
+ {
+ return Equals((Vector2)obj);
+ }
+
+ return false;
+ }
+
+ public bool Equals(Quat other)
+ {
+ return x == other.x && y == other.y && z == other.z && w == other.w;
+ }
+
+ public override int GetHashCode()
+ {
+ return y.GetHashCode() ^ x.GetHashCode() ^ z.GetHashCode() ^ w.GetHashCode();
+ }
+
+ public override string ToString()
+ {
+ return String.Format("({0}, {1}, {2}, {3})", x.ToString(), y.ToString(), z.ToString(), w.ToString());
+ }
+
+ public string ToString(string format)
+ {
+ return String.Format("({0}, {1}, {2}, {3})", x.ToString(format), y.ToString(format), z.ToString(format), w.ToString(format));
+ }
+ }
+}
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