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Merge pull request #54600 from aaronfranke/fix-quat-mult

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Rémi Verschelde 2021-11-04 19:19:00 +01:00 committed by GitHub
parent 197169b92a 744b43b527
commit ee939c919b
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 12 additions and 23 deletions
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7
core/math/quaternion.h
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@ -86,13 +86,6 @@ 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.");

28
modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
View File

@ -472,26 +472,22 @@ namespace Godot
return new Quaternion(-left.x, -left.y, -left.z, -left.w);
}
public static Quaternion operator *(Quaternion left, Vector3 right)
public static Vector3 operator *(Quaternion quat, Vector3 vec)
{
return new Quaternion
(
(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)
);
#if DEBUG
if (!quat.IsNormalized())
{
throw new InvalidOperationException("Quaternion is not normalized.");
}
#endif
var u = new Vector3(quat.x, quat.y, quat.z);
Vector3 uv = u.Cross(vec);
return vec + (((uv * quat.w) + u.Cross(uv)) * 2);
}
public static Quaternion operator *(Vector3 left, Quaternion right)
public static Vector3 operator *(Vector3 vec, Quaternion quat)
{
return new Quaternion
(
(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)
);
return quat.Inverse() * vec;
}
public static Quaternion operator *(Quaternion left, real_t right)