d8223ffa75
That year should bring the long-awaited OpenGL ES 3.0 compatible renderer
with state-of-the-art rendering techniques tuned to work as low as middle
end handheld devices - without compromising with the possibilities given
for higher end desktop games of course. Great times ahead for the Godot
community and the gamers that will play our games!
(cherry picked from commit c7bc44d5ad
)
197 lines
5.7 KiB
C++
197 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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#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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#include "vector3.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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