172 lines
3.4 KiB
C++
172 lines
3.4 KiB
C++
#ifndef QUAT_H
|
|
#define QUAT_H
|
|
|
|
#include <cmath>
|
|
|
|
#include "Vector3.h"
|
|
|
|
namespace godot {
|
|
|
|
#define CMP_EPSILON 0.00001
|
|
|
|
typedef float real_t;
|
|
|
|
class Quat{
|
|
public:
|
|
|
|
real_t x,y,z,w;
|
|
|
|
real_t length_squared() const;
|
|
real_t length() const;
|
|
void normalize();
|
|
Quat normalized() const;
|
|
Quat inverse() const;
|
|
real_t dot(const Quat& q) const;
|
|
void set_euler(const Vector3& p_euler);
|
|
Vector3 get_euler() const;
|
|
Quat slerp(const Quat& q, const real_t& t) const;
|
|
Quat slerpni(const Quat& q, const real_t& t) const;
|
|
Quat cubic_slerp(const Quat& q, const Quat& prep, const Quat& postq,const real_t& t) const;
|
|
|
|
void 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);
|
|
}
|
|
|
|
void operator*=(const Quat& q);
|
|
Quat operator*(const Quat& q) const;
|
|
|
|
|
|
|
|
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 xform(const Vector3& v) const {
|
|
|
|
Quat q = *this * v;
|
|
q *= this->inverse();
|
|
return Vector3(q.x,q.y,q.z);
|
|
}
|
|
|
|
void operator+=(const Quat& q);
|
|
void operator-=(const Quat& q);
|
|
void operator*=(const real_t& s);
|
|
void operator/=(const real_t& s);
|
|
Quat operator+(const Quat& q2) const;
|
|
Quat operator-(const Quat& q2) const;
|
|
Quat operator-() const;
|
|
Quat operator*(const real_t& s) const;
|
|
Quat operator/(const real_t& s) const;
|
|
|
|
|
|
bool operator==(const Quat& p_quat) const;
|
|
bool operator!=(const Quat& p_quat) const;
|
|
|
|
operator String() const;
|
|
|
|
inline void set( real_t p_x, real_t p_y, real_t p_z, real_t p_w) {
|
|
x=p_x; y=p_y; z=p_z; w=p_w;
|
|
}
|
|
inline Quat(real_t p_x, real_t p_y, real_t p_z, real_t p_w) {
|
|
x=p_x; y=p_y; z=p_z; w=p_w;
|
|
}
|
|
Quat(const Vector3& axis, const real_t& angle);
|
|
|
|
Quat(const Vector3& v0, const Vector3& v1) // shortest arc
|
|
{
|
|
Vector3 c = v0.cross(v1);
|
|
real_t d = v0.dot(v1);
|
|
|
|
if (d < -1.0 + CMP_EPSILON) {
|
|
x=0;
|
|
y=1;
|
|
z=0;
|
|
w=0;
|
|
} else {
|
|
|
|
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;
|
|
}
|
|
}
|
|
|
|
inline Quat() {x=y=z=0; w=1; }
|
|
|
|
|
|
};
|
|
|
|
|
|
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 real_t& s) {
|
|
x *= s; y *= s; z *= s; w *= 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 {
|
|
const Quat& q2 = *this;
|
|
return Quat( -q2.x, -q2.y, -q2.z, -q2.w);
|
|
}
|
|
|
|
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 {
|
|
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;
|
|
}
|
|
|
|
|
|
}
|
|
|
|
#endif // QUAT_H
|