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Sync Quaternion with the version in Godot

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David Snopek
2024-10-28 15:37:45 -05:00
parent a98d41f62b
commit 2004af63a0
2 changed files with 70 additions and 84 deletions
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86
include/godot_cpp/variant/quaternion.hpp
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@@ -31,6 +31,7 @@
#ifndef GODOT_QUATERNION_HPP
#define GODOT_QUATERNION_HPP
#include <godot_cpp/classes/global_constants.hpp>
#include <godot_cpp/core/math.hpp>
#include <godot_cpp/variant/vector3.hpp>
@@ -47,11 +48,11 @@ struct _NO_DISCARD_ Quaternion {
real_t components[4] = { 0, 0, 0, 1.0 };
};
_FORCE_INLINE_ real_t &operator[](int idx) {
return components[idx];
_FORCE_INLINE_ real_t &operator[](int p_idx) {
return components[p_idx];
}
_FORCE_INLINE_ const real_t &operator[](int idx) const {
return components[idx];
_FORCE_INLINE_ const real_t &operator[](int p_idx) const {
return components[p_idx];
}
_FORCE_INLINE_ real_t length_squared() const;
bool is_equal_approx(const Quaternion &p_quaternion) const;
@@ -66,14 +67,13 @@ struct _NO_DISCARD_ Quaternion {
_FORCE_INLINE_ real_t dot(const Quaternion &p_q) const;
real_t angle_to(const Quaternion &p_to) const;
Vector3 get_euler_xyz() const;
Vector3 get_euler_yxz() const;
Vector3 get_euler() const { return get_euler_yxz(); }
Vector3 get_euler(EulerOrder p_order = EulerOrder::EULER_ORDER_YXZ) const;
static Quaternion from_euler(const Vector3 &p_euler);
Quaternion slerp(const Quaternion &p_to, const real_t &p_weight) const;
Quaternion slerpni(const Quaternion &p_to, const real_t &p_weight) const;
Quaternion spherical_cubic_interpolate(const Quaternion &p_b, const Quaternion &p_pre_a, const Quaternion &p_post_b, const real_t &p_weight) const;
Quaternion spherical_cubic_interpolate_in_time(const Quaternion &p_b, const Quaternion &p_pre_a, const Quaternion &p_post_b, const real_t &p_weight, const real_t &p_b_t, const real_t &p_pre_a_t, const real_t &p_post_b_t) const;
Quaternion slerp(const Quaternion &p_to, real_t p_weight) const;
Quaternion slerpni(const Quaternion &p_to, real_t p_weight) const;
Quaternion spherical_cubic_interpolate(const Quaternion &p_b, const Quaternion &p_pre_a, const Quaternion &p_post_b, real_t p_weight) const;
Quaternion spherical_cubic_interpolate_in_time(const Quaternion &p_b, const Quaternion &p_pre_a, const Quaternion &p_post_b, real_t p_weight, real_t p_b_t, real_t p_pre_a_t, real_t p_post_b_t) const;
Vector3 get_axis() const;
real_t get_angle() const;
@@ -89,28 +89,28 @@ struct _NO_DISCARD_ Quaternion {
void operator*=(const Quaternion &p_q);
Quaternion operator*(const Quaternion &p_q) const;
_FORCE_INLINE_ Vector3 xform(const Vector3 &v) const {
_FORCE_INLINE_ Vector3 xform(const Vector3 &p_v) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), v, "The quaternion must be normalized.");
ERR_FAIL_COND_V_MSG(!is_normalized(), p_v, "The quaternion " + operator String() + " must be normalized.");
#endif
Vector3 u(x, y, z);
Vector3 uv = u.cross(v);
return v + ((uv * w) + u.cross(uv)) * ((real_t)2);
Vector3 uv = u.cross(p_v);
return p_v + ((uv * w) + u.cross(uv)) * ((real_t)2);
}
_FORCE_INLINE_ Vector3 xform_inv(const Vector3 &v) const {
return inverse().xform(v);
_FORCE_INLINE_ Vector3 xform_inv(const Vector3 &p_v) const {
return inverse().xform(p_v);
}
_FORCE_INLINE_ void operator+=(const Quaternion &p_q);
_FORCE_INLINE_ void operator-=(const Quaternion &p_q);
_FORCE_INLINE_ void operator*=(const real_t &s);
_FORCE_INLINE_ void operator/=(const real_t &s);
_FORCE_INLINE_ Quaternion operator+(const Quaternion &q2) const;
_FORCE_INLINE_ Quaternion operator-(const Quaternion &q2) const;
_FORCE_INLINE_ void operator*=(real_t p_s);
_FORCE_INLINE_ void operator/=(real_t p_s);
_FORCE_INLINE_ Quaternion operator+(const Quaternion &p_q2) const;
_FORCE_INLINE_ Quaternion operator-(const Quaternion &p_q2) const;
_FORCE_INLINE_ Quaternion operator-() const;
_FORCE_INLINE_ Quaternion operator*(const real_t &s) const;
_FORCE_INLINE_ Quaternion operator/(const real_t &s) const;
_FORCE_INLINE_ Quaternion operator*(real_t p_s) const;
_FORCE_INLINE_ Quaternion operator/(real_t p_s) const;
_FORCE_INLINE_ bool operator==(const Quaternion &p_quaternion) const;
_FORCE_INLINE_ bool operator!=(const Quaternion &p_quaternion) const;
@@ -128,8 +128,6 @@ struct _NO_DISCARD_ Quaternion {
Quaternion(const Vector3 &p_axis, real_t p_angle);
Quaternion(const Vector3 &p_euler);
Quaternion(const Quaternion &p_q) :
x(p_q.x),
y(p_q.y),
@@ -144,9 +142,9 @@ struct _NO_DISCARD_ Quaternion {
w = p_q.w;
}
Quaternion(const Vector3 &v0, const Vector3 &v1) { // Shortest arc.
Vector3 c = v0.cross(v1);
real_t d = v0.dot(v1);
Quaternion(const Vector3 &p_v0, const Vector3 &p_v1) { // Shortest arc.
Vector3 c = p_v0.cross(p_v1);
real_t d = p_v0.dot(p_v1);
if (d < -1.0f + (real_t)CMP_EPSILON) {
x = 0;
@@ -187,25 +185,25 @@ void Quaternion::operator-=(const Quaternion &p_q) {
w -= p_q.w;
}
void Quaternion::operator*=(const real_t &s) {
x *= s;
y *= s;
z *= s;
w *= s;
void Quaternion::operator*=(real_t p_s) {
x *= p_s;
y *= p_s;
z *= p_s;
w *= p_s;
}
void Quaternion::operator/=(const real_t &s) {
*this *= 1.0f / s;
void Quaternion::operator/=(real_t p_s) {
*this *= 1.0f / p_s;
}
Quaternion Quaternion::operator+(const Quaternion &q2) const {
Quaternion Quaternion::operator+(const Quaternion &p_q2) const {
const Quaternion &q1 = *this;
return Quaternion(q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w);
return Quaternion(q1.x + p_q2.x, q1.y + p_q2.y, q1.z + p_q2.z, q1.w + p_q2.w);
}
Quaternion Quaternion::operator-(const Quaternion &q2) const {
Quaternion Quaternion::operator-(const Quaternion &p_q2) const {
const Quaternion &q1 = *this;
return Quaternion(q1.x - q2.x, q1.y - q2.y, q1.z - q2.z, q1.w - q2.w);
return Quaternion(q1.x - p_q2.x, q1.y - p_q2.y, q1.z - p_q2.z, q1.w - p_q2.w);
}
Quaternion Quaternion::operator-() const {
@@ -213,12 +211,12 @@ Quaternion Quaternion::operator-() const {
return Quaternion(-q2.x, -q2.y, -q2.z, -q2.w);
}
Quaternion Quaternion::operator*(const real_t &s) const {
return Quaternion(x * s, y * s, z * s, w * s);
Quaternion Quaternion::operator*(real_t p_s) const {
return Quaternion(x * p_s, y * p_s, z * p_s, w * p_s);
}
Quaternion Quaternion::operator/(const real_t &s) const {
return *this * (1.0f / s);
Quaternion Quaternion::operator/(real_t p_s) const {
return *this * (1.0f / p_s);
}
bool Quaternion::operator==(const Quaternion &p_quaternion) const {
@@ -229,7 +227,7 @@ bool Quaternion::operator!=(const Quaternion &p_quaternion) const {
return x != p_quaternion.x || y != p_quaternion.y || z != p_quaternion.z || w != p_quaternion.w;
}
_FORCE_INLINE_ Quaternion operator*(const real_t &p_real, const Quaternion &p_quaternion) {
_FORCE_INLINE_ Quaternion operator*(real_t p_real, const Quaternion &p_quaternion) {
return p_quaternion * p_real;
}