88 lines
1.8 KiB
C++
88 lines
1.8 KiB
C++
#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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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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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 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; y=p_y; z=p_z; 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; y=p_y; z=p_z; 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() {x=y=z=0; w=1; }
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};
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}
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#endif // QUAT_H
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