126 lines
4.1 KiB
C++
126 lines
4.1 KiB
C++
/*************************************************************************/
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/* Quat.hpp */
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/*************************************************************************/
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/* This file is part of: */
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/* GODOT ENGINE */
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/* https://godotengine.org */
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/*************************************************************************/
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/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
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/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
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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 <cmath>
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#include "Vector3.hpp"
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// #include "Basis.h"
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namespace godot {
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class Quat {
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public:
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static const Quat IDENTITY;
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real_t x, y, z, w;
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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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bool is_normalized() const;
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Quat inverse() const;
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void set_euler_xyz(const Vector3 &p_euler);
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Vector3 get_euler_xyz() const;
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void set_euler_yxz(const Vector3 &p_euler);
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Vector3 get_euler_yxz() const;
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inline void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); }
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inline Vector3 get_euler() const { return get_euler_yxz(); }
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real_t dot(const Quat &q) const;
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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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void get_axis_and_angle(Vector3 &r_axis, real_t &r_angle) const;
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void set_axis_angle(const Vector3 &axis, const float angle);
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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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Vector3 xform(const Vector3 &v) const;
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void operator+=(const Quat &q);
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void operator-=(const Quat &q);
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void operator*=(const real_t &s);
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void operator/=(const real_t &s);
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Quat operator+(const Quat &q2) const;
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Quat operator-(const Quat &q2) const;
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Quat operator-() const;
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Quat operator*(const real_t &s) const;
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Quat operator/(const real_t &s) const;
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bool operator==(const Quat &p_quat) const;
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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;
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y = p_y;
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z = p_z;
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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;
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y = p_y;
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z = p_z;
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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);
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inline Quat() {
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x = y = z = 0;
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w = 1;
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}
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};
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} // namespace godot
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#endif // QUAT_H
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