329 lines
9.0 KiB
C#
329 lines
9.0 KiB
C#
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using System;
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using System.Runtime.InteropServices;
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namespace Godot
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{
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[StructLayout(LayoutKind.Sequential)]
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public struct Quat : IEquatable<Quat>
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{
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private static readonly Quat identity = new Quat(0f, 0f, 0f, 1f);
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public float x;
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public float y;
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public float z;
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public float w;
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public static Quat Identity
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{
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get { return identity; }
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}
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public float this[int index]
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{
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get
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{
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switch (index)
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{
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case 0:
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return x;
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case 1:
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return y;
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case 2:
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return z;
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case 3:
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return w;
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default:
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throw new IndexOutOfRangeException();
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}
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}
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set
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{
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switch (index)
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{
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case 0:
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x = value;
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break;
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case 1:
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y = value;
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break;
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case 2:
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z = value;
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break;
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case 3:
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w = value;
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break;
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default:
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throw new IndexOutOfRangeException();
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}
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}
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}
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public Quat cubic_slerp(Quat b, Quat preA, Quat postB, float t)
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{
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float t2 = (1.0f - t) * t * 2f;
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Quat sp = slerp(b, t);
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Quat sq = preA.slerpni(postB, t);
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return sp.slerpni(sq, t2);
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}
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public float dot(Quat b)
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{
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return x * b.x + y * b.y + z * b.z + w * b.w;
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}
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public Quat inverse()
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{
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return new Quat(-x, -y, -z, w);
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}
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public float length()
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{
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return Mathf.sqrt(length_squared());
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}
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public float length_squared()
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{
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return dot(this);
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}
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public Quat normalized()
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{
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return this / length();
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}
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public void set(float x, float y, float z, float w)
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{
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this.x = x;
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this.y = y;
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this.z = z;
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this.w = w;
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}
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public Quat slerp(Quat b, float t)
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{
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// Calculate cosine
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float cosom = x * b.x + y * b.y + z * b.z + w * b.w;
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float[] to1 = new float[4];
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// Adjust signs if necessary
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if (cosom < 0.0)
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{
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cosom = -cosom; to1[0] = -b.x;
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to1[1] = -b.y;
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to1[2] = -b.z;
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to1[3] = -b.w;
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}
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else
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{
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to1[0] = b.x;
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to1[1] = b.y;
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to1[2] = b.z;
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to1[3] = b.w;
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}
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float sinom, scale0, scale1;
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// Calculate coefficients
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if ((1.0 - cosom) > Mathf.Epsilon)
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{
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// Standard case (Slerp)
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float omega = Mathf.acos(cosom);
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sinom = Mathf.sin(omega);
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scale0 = Mathf.sin((1.0f - t) * omega) / sinom;
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scale1 = Mathf.sin(t * omega) / sinom;
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}
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else
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{
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// Quaternions are very close so we can do a linear interpolation
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scale0 = 1.0f - t;
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scale1 = t;
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}
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// Calculate final values
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return new Quat
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(
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scale0 * x + scale1 * to1[0],
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scale0 * y + scale1 * to1[1],
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scale0 * z + scale1 * to1[2],
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scale0 * w + scale1 * to1[3]
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);
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}
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public Quat slerpni(Quat b, float t)
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{
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float dot = this.dot(b);
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if (Mathf.abs(dot) > 0.9999f)
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{
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return this;
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}
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float theta = Mathf.acos(dot);
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float sinT = 1.0f / Mathf.sin(theta);
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float newFactor = Mathf.sin(t * theta) * sinT;
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float invFactor = Mathf.sin((1.0f - t) * theta) * sinT;
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return new Quat
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(
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invFactor * this.x + newFactor * b.x,
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invFactor * this.y + newFactor * b.y,
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invFactor * this.z + newFactor * b.z,
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invFactor * this.w + newFactor * b.w
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);
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}
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public Vector3 xform(Vector3 v)
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{
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Quat q = this * v;
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q *= this.inverse();
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return new Vector3(q.x, q.y, q.z);
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}
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public Quat(float x, float y, float z, float w)
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{
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this.x = x;
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this.y = y;
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this.z = z;
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this.w = w;
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}
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public Quat(Vector3 axis, float angle)
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{
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float d = axis.length();
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if (d == 0f)
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{
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x = 0f;
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y = 0f;
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z = 0f;
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w = 0f;
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}
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else
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{
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float s = Mathf.sin(-angle * 0.5f) / d;
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x = axis.x * s;
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y = axis.y * s;
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z = axis.z * s;
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w = Mathf.cos(-angle * 0.5f);
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}
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}
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public static Quat operator *(Quat left, Quat right)
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{
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return new Quat
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(
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left.w * right.x + left.x * right.w + left.y * right.z - left.z * right.y,
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left.w * right.y + left.y * right.w + left.z * right.x - left.x * right.z,
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left.w * right.z + left.z * right.w + left.x * right.y - left.y * right.x,
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left.w * right.w - left.x * right.x - left.y * right.y - left.z * right.z
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);
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}
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public static Quat operator +(Quat left, Quat right)
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{
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return new Quat(left.x + right.x, left.y + right.y, left.z + right.z, left.w + right.w);
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}
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public static Quat operator -(Quat left, Quat right)
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{
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return new Quat(left.x - right.x, left.y - right.y, left.z - right.z, left.w - right.w);
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}
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public static Quat operator -(Quat left)
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{
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return new Quat(-left.x, -left.y, -left.z, -left.w);
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}
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public static Quat operator *(Quat left, Vector3 right)
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{
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return new Quat
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(
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left.w * right.x + left.y * right.z - left.z * right.y,
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left.w * right.y + left.z * right.x - left.x * right.z,
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left.w * right.z + left.x * right.y - left.y * right.x,
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-left.x * right.x - left.y * right.y - left.z * right.z
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);
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}
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public static Quat operator *(Vector3 left, Quat right)
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{
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return new Quat
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(
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right.w * left.x + right.y * left.z - right.z * left.y,
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right.w * left.y + right.z * left.x - right.x * left.z,
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right.w * left.z + right.x * left.y - right.y * left.x,
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-right.x * left.x - right.y * left.y - right.z * left.z
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);
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}
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public static Quat operator *(Quat left, float right)
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{
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return new Quat(left.x * right, left.y * right, left.z * right, left.w * right);
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}
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public static Quat operator *(float left, Quat right)
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{
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return new Quat(right.x * left, right.y * left, right.z * left, right.w * left);
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}
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public static Quat operator /(Quat left, float right)
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{
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return left * (1.0f / right);
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}
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public static bool operator ==(Quat left, Quat right)
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{
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return left.Equals(right);
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}
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public static bool operator !=(Quat left, Quat right)
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{
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return !left.Equals(right);
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}
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public override bool Equals(object obj)
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{
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if (obj is Vector2)
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{
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return Equals((Vector2)obj);
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}
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return false;
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}
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public bool Equals(Quat other)
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{
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return x == other.x && y == other.y && z == other.z && w == other.w;
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}
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public override int GetHashCode()
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{
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return y.GetHashCode() ^ x.GetHashCode() ^ z.GetHashCode() ^ w.GetHashCode();
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}
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public override string ToString()
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{
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return String.Format("({0}, {1}, {2}, {3})", new object[]
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{
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this.x.ToString(),
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this.y.ToString(),
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this.z.ToString(),
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this.w.ToString()
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});
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}
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public string ToString(string format)
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{
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return String.Format("({0}, {1}, {2}, {3})", new object[]
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{
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this.x.ToString(format),
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this.y.ToString(format),
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this.z.ToString(format),
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this.w.ToString(format)
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});
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}
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}
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}
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