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-rw-r--r--src/core/Quat.cpp206
1 files changed, 99 insertions, 107 deletions
diff --git a/src/core/Quat.cpp b/src/core/Quat.cpp
index 8739be3..abfe056 100644
--- a/src/core/Quat.cpp
+++ b/src/core/Quat.cpp
@@ -1,7 +1,7 @@
#include "Quat.hpp"
+#include "Basis.hpp"
#include "Defs.hpp"
#include "Vector3.hpp"
-#include "Basis.hpp"
#include <cmath>
@@ -77,53 +77,47 @@ Vector3 Quat::get_euler_yxz() const {
return m.get_euler_yxz();
}
-real_t Quat::length() const
-{
+real_t Quat::length() const {
return ::sqrt(length_squared());
}
-void Quat::normalize()
-{
+void Quat::normalize() {
*this /= length();
}
-Quat Quat::normalized() const
-{
+Quat Quat::normalized() const {
return *this / length();
}
-Quat Quat::inverse() const
-{
- return Quat( -x, -y, -z, w );
+Quat Quat::inverse() const {
+ return Quat(-x, -y, -z, w);
}
-Quat Quat::slerp(const Quat& q, const real_t& t) const {
-
- Quat to1;
- real_t omega, cosom, sinom, scale0, scale1;
+Quat Quat::slerp(const Quat &q, const real_t &t) const {
+ Quat to1;
+ real_t omega, cosom, sinom, scale0, scale1;
// calc cosine
cosom = dot(q);
// adjust signs (if necessary)
- if ( cosom <0.0 ) {
+ if (cosom < 0.0) {
cosom = -cosom;
- to1.x = - q.x;
- to1.y = - q.y;
- to1.z = - q.z;
- to1.w = - q.w;
- } else {
+ to1.x = -q.x;
+ to1.y = -q.y;
+ to1.z = -q.z;
+ to1.w = -q.w;
+ } else {
to1.x = q.x;
to1.y = q.y;
to1.z = q.z;
to1.w = q.w;
}
-
// calculate coefficients
- if ( (1.0 - cosom) > CMP_EPSILON ) {
+ if ((1.0 - cosom) > CMP_EPSILON) {
// standard case (slerp)
omega = ::acos(cosom);
sinom = ::sin(omega);
@@ -137,14 +131,13 @@ Quat Quat::slerp(const Quat& q, const real_t& t) const {
}
// calculate final values
return Quat(
- scale0 * x + scale1 * to1.x,
- scale0 * y + scale1 * to1.y,
- scale0 * z + scale1 * to1.z,
- scale0 * w + scale1 * to1.w
- );
+ scale0 * x + scale1 * to1.x,
+ scale0 * y + scale1 * to1.y,
+ scale0 * z + scale1 * to1.z,
+ scale0 * w + scale1 * to1.w);
}
-Quat Quat::slerpni(const Quat& q, const real_t& t) const {
+Quat Quat::slerpni(const Quat &q, const real_t &t) const {
const Quat &from = *this;
@@ -152,162 +145,161 @@ Quat Quat::slerpni(const Quat& q, const real_t& t) const {
if (::fabs(dot) > 0.9999) return from;
- real_t theta = ::acos(dot),
- sinT = 1.0 / ::sin(theta),
- newFactor = ::sin(t * theta) * sinT,
- invFactor = ::sin((1.0 - t) * theta) * sinT;
+ real_t theta = ::acos(dot),
+ sinT = 1.0 / ::sin(theta),
+ newFactor = ::sin(t * theta) * sinT,
+ invFactor = ::sin((1.0 - t) * theta) * sinT;
return Quat(invFactor * from.x + newFactor * q.x,
- invFactor * from.y + newFactor * q.y,
- invFactor * from.z + newFactor * q.z,
- invFactor * from.w + newFactor * q.w);
+ invFactor * from.y + newFactor * q.y,
+ invFactor * from.z + newFactor * q.z,
+ invFactor * from.w + newFactor * q.w);
}
-Quat Quat::cubic_slerp(const Quat& q, const Quat& prep, const Quat& postq,const real_t& t) const
-{
+Quat Quat::cubic_slerp(const Quat &q, const Quat &prep, const Quat &postq, const real_t &t) const {
//the only way to do slerp :|
- real_t t2 = (1.0-t)*t*2;
- Quat sp = this->slerp(q,t);
- Quat sq = prep.slerpni(postq,t);
- return sp.slerpni(sq,t2);
+ real_t t2 = (1.0 - t) * t * 2;
+ Quat sp = this->slerp(q, t);
+ Quat sq = prep.slerpni(postq, t);
+ return sp.slerpni(sq, t2);
}
-void Quat::get_axis_and_angle(Vector3& r_axis, real_t &r_angle) const {
+void Quat::get_axis_and_angle(Vector3 &r_axis, real_t &r_angle) const {
r_angle = 2 * ::acos(w);
- r_axis.x = x / ::sqrt(1-w*w);
- r_axis.y = y / ::sqrt(1-w*w);
- r_axis.z = z / ::sqrt(1-w*w);
+ r_axis.x = x / ::sqrt(1 - w * w);
+ r_axis.y = y / ::sqrt(1 - w * w);
+ r_axis.z = z / ::sqrt(1 - w * w);
}
-
-
-Quat 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);
+Quat 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);
}
-Vector3 Quat::xform(const Vector3& v) const {
+Vector3 Quat::xform(const Vector3 &v) const {
Quat q = *this * v;
q *= this->inverse();
- return Vector3(q.x,q.y,q.z);
+ return Vector3(q.x, q.y, q.z);
}
-
-Quat::operator String() const
-{
+Quat::operator String() const {
return String(); // @Todo
}
-
-Quat::Quat(const Vector3& axis, const real_t& angle)
-{
+Quat::Quat(const Vector3 &axis, const real_t &angle) {
real_t d = axis.length();
- if (d==0)
- set(0,0,0,0);
+ if (d == 0)
+ set(0, 0, 0, 0);
else {
real_t sin_angle = ::sin(angle * 0.5);
real_t cos_angle = ::cos(angle * 0.5);
real_t s = sin_angle / d;
set(axis.x * s, axis.y * s, axis.z * s,
- cos_angle);
+ cos_angle);
}
}
-Quat::Quat(const Vector3& v0, const Vector3& v1) // shortest arc
+Quat::Quat(const Vector3 &v0, const Vector3 &v1) // shortest arc
{
Vector3 c = v0.cross(v1);
- real_t d = v0.dot(v1);
+ real_t d = v0.dot(v1);
if (d < -1.0 + CMP_EPSILON) {
- x=0;
- y=1;
- z=0;
- w=0;
+ x = 0;
+ y = 1;
+ z = 0;
+ w = 0;
} else {
- real_t s = ::sqrt((1.0 + d) * 2.0);
+ real_t s = ::sqrt((1.0 + d) * 2.0);
real_t rs = 1.0 / s;
- x=c.x*rs;
- y=c.y*rs;
- z=c.z*rs;
- w=s * 0.5;
+ x = c.x * rs;
+ y = c.y * rs;
+ z = c.z * rs;
+ w = s * 0.5;
}
}
-
-real_t Quat::dot(const Quat& q) const {
- return x * q.x+y * q.y+z * q.z+w * q.w;
+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 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 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) {
+ x *= s;
+ y *= s;
+ z *= s;
+ w *= s;
}
-
-void Quat::operator/=(const real_t& 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 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 Quat& q2) const {
+Quat Quat::operator*(const Quat &q2) const {
Quat q1 = *this;
q1 *= q2;
return q1;
}
-
Quat Quat::operator-() const {
- const Quat& q2 = *this;
- return Quat( -q2.x, -q2.y, -q2.z, -q2.w);
+ const Quat &q2 = *this;
+ return Quat(-q2.x, -q2.y, -q2.z, -q2.w);
}
-Quat Quat::operator*(const real_t& s) const {
+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 {
+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;
}
-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;
}
-}
+} // namespace godot