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/*************************************************************************/
/* quat.h */
/*************************************************************************/
/* This file is part of: */
/* GODOT ENGINE */
/* http://www.godotengine.org */
/*************************************************************************/
/* Copyright (c) 2007-2015 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;
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) {
Quat q = *this * v;
q *= this->inverse();
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_ 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);
Quat(const Vector3& v0, const Vector3& v1) // shortest arc
{
Vector3 c = v0.cross(v1);
real_t d = v0.dot(v1);
if (d < -1.0 + CMP_EPSILON) {
x=0;
y=1;
z=0;
w=0;
} else {
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;
}
}
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
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