199 lines
5.7 KiB
C++
199 lines
5.7 KiB
C++
/*************************************************************************/
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/* quat.h */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* http://www.godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2017 Juan Linietsky, Ariel Manzur. */
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/* */
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/* Permission is hereby granted, free of charge, to any person obtaining */
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/* a copy of this software and associated documentation files (the */
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/* "Software"), to deal in the Software without restriction, including */
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/* without limitation the rights to use, copy, modify, merge, publish, */
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/* distribute, sublicense, and/or sell copies of the Software, and to */
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/* permit persons to whom the Software is furnished to do so, subject to */
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/* the following conditions: */
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/* */
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/* The above copyright notice and this permission notice shall be */
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/* included in all copies or substantial portions of the Software. */
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/* */
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/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */
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/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */
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/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/
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/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */
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/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */
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/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */
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/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */
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/*************************************************************************/
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#include "vector3.h"
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#ifndef QUAT_H
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#define QUAT_H
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#include "math_defs.h"
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#include "math_funcs.h"
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#include "ustring.h"
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/**
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@author Juan Linietsky <reduzio@gmail.com>
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*/
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class Quat{
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public:
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real_t x,y,z,w;
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_FORCE_INLINE_ real_t length_squared() const;
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real_t length() const;
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void normalize();
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Quat normalized() const;
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Quat inverse() const;
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_FORCE_INLINE_ real_t dot(const Quat& q) const;
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void set_euler(const Vector3& p_euler);
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Quat slerp(const Quat& q, const real_t& t) const;
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Quat slerpni(const Quat& q, const real_t& t) const;
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Quat cubic_slerp(const Quat& q, const Quat& prep, const Quat& postq,const real_t& t) const;
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_FORCE_INLINE_ void get_axis_and_angle(Vector3& r_axis, real_t &r_angle) const {
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r_angle = 2 * Math::acos(w);
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r_axis.x = -x / Math::sqrt(1-w*w);
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r_axis.y = -y / Math::sqrt(1-w*w);
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r_axis.z = -z / Math::sqrt(1-w*w);
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}
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void operator*=(const Quat& q);
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Quat operator*(const Quat& q) const;
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Quat operator*(const Vector3& v) const
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{
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return Quat( w * v.x + y * v.z - z * v.y,
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w * v.y + z * v.x - x * v.z,
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w * v.z + x * v.y - y * v.x,
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-x * v.x - y * v.y - z * v.z);
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}
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_FORCE_INLINE_ Vector3 xform(const Vector3& v) const {
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Quat q = *this * v;
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q *= this->inverse();
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return Vector3(q.x,q.y,q.z);
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}
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_FORCE_INLINE_ void operator+=(const Quat& q);
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_FORCE_INLINE_ void operator-=(const Quat& q);
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_FORCE_INLINE_ void operator*=(const real_t& s);
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_FORCE_INLINE_ void operator/=(const real_t& s);
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_FORCE_INLINE_ Quat operator+(const Quat& q2) const;
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_FORCE_INLINE_ Quat operator-(const Quat& q2) const;
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_FORCE_INLINE_ Quat operator-() const;
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_FORCE_INLINE_ Quat operator*(const real_t& s) const;
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_FORCE_INLINE_ Quat operator/(const real_t& s) const;
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_FORCE_INLINE_ bool operator==(const Quat& p_quat) const;
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_FORCE_INLINE_ bool operator!=(const Quat& p_quat) const;
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operator String() const;
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inline void set( real_t p_x, real_t p_y, real_t p_z, real_t p_w) {
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x=p_x; y=p_y; z=p_z; w=p_w;
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}
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inline Quat(real_t p_x, real_t p_y, real_t p_z, real_t p_w) {
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x=p_x; y=p_y; z=p_z; w=p_w;
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}
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Quat(const Vector3& axis, const real_t& angle);
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Quat(const Vector3& v0, const Vector3& v1) // shortest arc
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{
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Vector3 c = v0.cross(v1);
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real_t d = v0.dot(v1);
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if (d < -1.0 + CMP_EPSILON) {
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x=0;
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y=1;
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z=0;
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w=0;
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} else {
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real_t s = Math::sqrt((1.0f + d) * 2.0f);
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real_t rs = 1.0f / s;
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x=c.x*rs;
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y=c.y*rs;
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z=c.z*rs;
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w=s * 0.5;
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}
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}
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inline Quat() {x=y=z=0; w=1; }
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};
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real_t Quat::dot(const Quat& q) const {
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return x * q.x+y * q.y+z * q.z+w * q.w;
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}
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real_t Quat::length_squared() const {
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return dot(*this);
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}
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void Quat::operator+=(const Quat& q) {
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x += q.x; y += q.y; z += q.z; w += q.w;
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}
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void Quat::operator-=(const Quat& q) {
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x -= q.x; y -= q.y; z -= q.z; w -= q.w;
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}
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void Quat::operator*=(const real_t& s) {
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x *= s; y *= s; z *= s; w *= s;
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}
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void Quat::operator/=(const real_t& s) {
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*this *= 1.0 / s;
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}
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Quat Quat::operator+(const Quat& q2) const {
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const Quat& q1 = *this;
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return Quat( q1.x+q2.x, q1.y+q2.y, q1.z+q2.z, q1.w+q2.w );
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}
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Quat Quat::operator-(const Quat& q2) const {
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const Quat& q1 = *this;
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return Quat( q1.x-q2.x, q1.y-q2.y, q1.z-q2.z, q1.w-q2.w);
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}
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Quat Quat::operator-() const {
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const Quat& q2 = *this;
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return Quat( -q2.x, -q2.y, -q2.z, -q2.w);
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}
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Quat Quat::operator*(const real_t& s) const {
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return Quat(x * s, y * s, z * s, w * s);
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}
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Quat Quat::operator/(const real_t& s) const {
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return *this * (1.0 / s);
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}
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bool Quat::operator==(const Quat& p_quat) const {
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return x==p_quat.x && y==p_quat.y && z==p_quat.z && w==p_quat.w;
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}
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bool Quat::operator!=(const Quat& p_quat) const {
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return x!=p_quat.x || y!=p_quat.y || z!=p_quat.z || w!=p_quat.w;
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}
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#endif
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