diff options
Diffstat (limited to 'core/math/quaternion.cpp')
| -rw-r--r-- | core/math/quaternion.cpp | 91 |
1 files changed, 39 insertions, 52 deletions
diff --git a/core/math/quaternion.cpp b/core/math/quaternion.cpp index 6a5f29f3d8..34e212a5b6 100644 --- a/core/math/quaternion.cpp +++ b/core/math/quaternion.cpp @@ -1,32 +1,32 @@ -/*************************************************************************/ -/* quaternion.cpp */ -/*************************************************************************/ -/* This file is part of: */ -/* GODOT ENGINE */ -/* https://godotengine.org */ -/*************************************************************************/ -/* Copyright (c) 2007-2022 Juan Linietsky, Ariel Manzur. */ -/* Copyright (c) 2014-2022 Godot Engine contributors (cf. AUTHORS.md). */ -/* */ -/* Permission is hereby granted, free of charge, to any person obtaining */ -/* a copy of this software and associated documentation files (the */ -/* "Software"), to deal in the Software without restriction, including */ -/* without limitation the rights to use, copy, modify, merge, publish, */ -/* distribute, sublicense, and/or sell copies of the Software, and to */ -/* permit persons to whom the Software is furnished to do so, subject to */ -/* the following conditions: */ -/* */ -/* The above copyright notice and this permission notice shall be */ -/* included in all copies or substantial portions of the Software. */ -/* */ -/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ -/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ -/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.*/ -/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ -/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ -/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ -/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ -/*************************************************************************/ +/**************************************************************************/ +/* quaternion.cpp */ +/**************************************************************************/ +/* This file is part of: */ +/* GODOT ENGINE */ +/* https://godotengine.org */ +/**************************************************************************/ +/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */ +/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur. */ +/* */ +/* Permission is hereby granted, free of charge, to any person obtaining */ +/* a copy of this software and associated documentation files (the */ +/* "Software"), to deal in the Software without restriction, including */ +/* without limitation the rights to use, copy, modify, merge, publish, */ +/* distribute, sublicense, and/or sell copies of the Software, and to */ +/* permit persons to whom the Software is furnished to do so, subject to */ +/* the following conditions: */ +/* */ +/* The above copyright notice and this permission notice shall be */ +/* included in all copies or substantial portions of the Software. */ +/* */ +/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, */ +/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF */ +/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */ +/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY */ +/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, */ +/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE */ +/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. */ +/**************************************************************************/ #include "quaternion.h" @@ -38,25 +38,11 @@ real_t Quaternion::angle_to(const Quaternion &p_to) const { return Math::acos(CLAMP(d * d * 2 - 1, -1, 1)); } -// get_euler_xyz returns a vector containing the Euler angles in the format -// (ax,ay,az), where ax is the angle of rotation around x axis, -// and similar for other axes. -// This implementation uses XYZ convention (Z is the first rotation). -Vector3 Quaternion::get_euler_xyz() const { - Basis m(*this); - return m.get_euler(Basis::EULER_ORDER_XYZ); -} - -// get_euler_yxz returns a vector containing the Euler angles in the format -// (ax,ay,az), where ax is the angle of rotation around x axis, -// and similar for other axes. -// This implementation uses YXZ convention (Z is the first rotation). -Vector3 Quaternion::get_euler_yxz() const { +Vector3 Quaternion::get_euler(EulerOrder p_order) const { #ifdef MATH_CHECKS ERR_FAIL_COND_V_MSG(!is_normalized(), Vector3(0, 0, 0), "The quaternion must be normalized."); #endif - Basis m(*this); - return m.get_euler(Basis::EULER_ORDER_YXZ); + return Basis(*this).get_euler(p_order); } void Quaternion::operator*=(const Quaternion &p_q) { @@ -234,7 +220,7 @@ Quaternion Quaternion::spherical_cubic_interpolate(const Quaternion &p_b, const ln.z = Math::cubic_interpolate(ln_from.z, ln_to.z, ln_pre.z, ln_post.z, p_weight); Quaternion q2 = to_q * ln.exp(); - // To cancel error made by Expmap ambiguity, do blends. + // To cancel error made by Expmap ambiguity, do blending. return q1.slerp(q2, p_weight); } @@ -285,7 +271,7 @@ Quaternion Quaternion::spherical_cubic_interpolate_in_time(const Quaternion &p_b ln.z = Math::cubic_interpolate_in_time(ln_from.z, ln_to.z, ln_pre.z, ln_post.z, p_weight, p_b_t, p_pre_a_t, p_post_b_t); Quaternion q2 = to_q * ln.exp(); - // To cancel error made by Expmap ambiguity, do blends. + // To cancel error made by Expmap ambiguity, do blending. return q1.slerp(q2, p_weight); } @@ -330,7 +316,7 @@ Quaternion::Quaternion(const Vector3 &p_axis, real_t p_angle) { // (ax, ay, az), where ax is the angle of rotation around x axis, // and similar for other axes. // This implementation uses YXZ convention (Z is the first rotation). -Quaternion::Quaternion(const Vector3 &p_euler) { +Quaternion Quaternion::from_euler(const Vector3 &p_euler) { real_t half_a1 = p_euler.y * 0.5f; real_t half_a2 = p_euler.x * 0.5f; real_t half_a3 = p_euler.z * 0.5f; @@ -346,8 +332,9 @@ Quaternion::Quaternion(const Vector3 &p_euler) { real_t cos_a3 = Math::cos(half_a3); real_t sin_a3 = Math::sin(half_a3); - x = sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3; - y = sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3; - z = -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3; - w = sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3; + return Quaternion( + sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3, + sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3, + -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3, + sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3); } |