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240 lines
6.8 KiB
C++
240 lines
6.8 KiB
C++
/*************************************************************************/
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/* quat.h */
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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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// Circular dependency between Vector3 and Basis :/
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#include "core/math/vector3.h"
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#ifndef QUAT_H
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#define QUAT_H
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#include "core/math/math_defs.h"
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#include "core/math/math_funcs.h"
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#include "core/string/ustring.h"
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class Quat {
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public:
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union {
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struct {
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real_t x;
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real_t y;
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real_t z;
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real_t w;
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};
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real_t components[4] = { 0, 0, 0, 1.0 };
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};
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_FORCE_INLINE_ real_t &operator[](int idx) {
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return components[idx];
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}
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_FORCE_INLINE_ const real_t &operator[](int idx) const {
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return components[idx];
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}
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_FORCE_INLINE_ real_t length_squared() const;
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bool is_equal_approx(const Quat &p_quat) 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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_FORCE_INLINE_ real_t dot(const Quat &p_q) const;
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Vector3 get_euler_xyz() const;
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Vector3 get_euler_yxz() const;
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Vector3 get_euler() const { return get_euler_yxz(); };
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Quat slerp(const Quat &p_to, const real_t &p_weight) const;
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Quat slerpni(const Quat &p_to, const real_t &p_weight) const;
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Quat cubic_slerp(const Quat &p_b, const Quat &p_pre_a, const Quat &p_post_b, const real_t &p_weight) const;
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_FORCE_INLINE_ void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
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r_angle = 2 * Math::acos(w);
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real_t r = ((real_t)1) / Math::sqrt(1 - w * w);
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r_axis.x = x * r;
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r_axis.y = y * r;
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r_axis.z = z * r;
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}
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void operator*=(const Quat &p_q);
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Quat operator*(const Quat &p_q) const;
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Quat operator*(const Vector3 &v) const {
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return Quat(w * v.x + y * v.z - z * v.y,
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w * v.y + z * v.x - x * v.z,
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w * v.z + x * v.y - y * v.x,
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-x * v.x - y * v.y - z * v.z);
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}
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_FORCE_INLINE_ Vector3 xform(const Vector3 &v) const {
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#ifdef MATH_CHECKS
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ERR_FAIL_COND_V_MSG(!is_normalized(), v, "The quaternion must be normalized.");
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#endif
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Vector3 u(x, y, z);
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Vector3 uv = u.cross(v);
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return v + ((uv * w) + u.cross(uv)) * ((real_t)2);
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}
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_FORCE_INLINE_ Vector3 xform_inv(const Vector3 &v) const {
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return inverse().xform(v);
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}
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_FORCE_INLINE_ void operator+=(const Quat &p_q);
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_FORCE_INLINE_ void operator-=(const Quat &p_q);
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_FORCE_INLINE_ void operator*=(const real_t &s);
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_FORCE_INLINE_ void operator/=(const real_t &s);
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_FORCE_INLINE_ Quat operator+(const Quat &q2) const;
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_FORCE_INLINE_ Quat operator-(const Quat &q2) const;
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_FORCE_INLINE_ Quat operator-() const;
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_FORCE_INLINE_ Quat operator*(const real_t &s) const;
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_FORCE_INLINE_ Quat operator/(const real_t &s) const;
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_FORCE_INLINE_ bool operator==(const Quat &p_quat) const;
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_FORCE_INLINE_ bool operator!=(const Quat &p_quat) const;
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operator String() const;
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_FORCE_INLINE_ Quat() {}
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_FORCE_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 &p_axis, real_t p_angle);
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Quat(const Vector3 &p_euler);
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Quat(const Quat &p_q) :
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x(p_q.x),
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y(p_q.y),
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z(p_q.z),
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w(p_q.w) {
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}
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Quat &operator=(const Quat &p_q) {
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x = p_q.x;
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y = p_q.y;
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z = p_q.z;
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w = p_q.w;
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return *this;
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}
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Quat(const Vector3 &v0, const Vector3 &v1) // shortest arc
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{
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Vector3 c = v0.cross(v1);
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real_t d = v0.dot(v1);
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if (d < -1.0 + CMP_EPSILON) {
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x = 0;
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y = 1;
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z = 0;
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w = 0;
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} else {
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real_t s = Math::sqrt((1.0 + d) * 2.0);
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real_t rs = 1.0 / s;
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x = c.x * rs;
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y = c.y * rs;
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z = c.z * rs;
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w = s * 0.5;
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}
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}
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};
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real_t Quat::dot(const Quat &p_q) const {
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return x * p_q.x + y * p_q.y + z * p_q.z + w * p_q.w;
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}
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real_t Quat::length_squared() const {
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return dot(*this);
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}
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void Quat::operator+=(const Quat &p_q) {
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x += p_q.x;
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y += p_q.y;
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z += p_q.z;
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w += p_q.w;
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}
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void Quat::operator-=(const Quat &p_q) {
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x -= p_q.x;
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y -= p_q.y;
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z -= p_q.z;
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w -= p_q.w;
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}
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void Quat::operator*=(const real_t &s) {
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x *= s;
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y *= s;
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z *= s;
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w *= s;
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}
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void Quat::operator/=(const real_t &s) {
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*this *= 1.0 / s;
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}
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Quat Quat::operator+(const Quat &q2) const {
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const Quat &q1 = *this;
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return Quat(q1.x + q2.x, q1.y + q2.y, q1.z + q2.z, q1.w + q2.w);
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}
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Quat Quat::operator-(const Quat &q2) const {
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const Quat &q1 = *this;
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return Quat(q1.x - q2.x, q1.y - q2.y, q1.z - q2.z, q1.w - q2.w);
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}
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Quat Quat::operator-() const {
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const Quat &q2 = *this;
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return Quat(-q2.x, -q2.y, -q2.z, -q2.w);
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}
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Quat Quat::operator*(const real_t &s) const {
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return Quat(x * s, y * s, z * s, w * s);
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}
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Quat Quat::operator/(const real_t &s) const {
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return *this * (1.0 / s);
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}
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bool Quat::operator==(const Quat &p_quat) const {
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return x == p_quat.x && y == p_quat.y && z == p_quat.z && w == p_quat.w;
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}
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bool Quat::operator!=(const Quat &p_quat) const {
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return x != p_quat.x || y != p_quat.y || z != p_quat.z || w != p_quat.w;
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}
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_FORCE_INLINE_ Quat operator*(const real_t &p_real, const Quat &p_quat) {
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return p_quat * p_real;
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}
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#endif // QUAT_H
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