Merge pull request #55675 from raulsntos/csharp-basis-quaternion
Rename C# `Quaternion()` -> `GetQuaternion()`
This commit is contained in:
Ignacio Roldán Etcheverry
GitHub
commit
37302b5c24
2 changed files with 83 additions and 83 deletions
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@ -209,27 +209,6 @@ namespace Godot
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}
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}
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/// <summary>
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/// Returns the <see cref="Basis"/>'s rotation in the form of a
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/// <see cref="Quaternion"/>. See <see cref="GetEuler"/> if you
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/// need Euler angles, but keep in mind quaternions should generally
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/// be preferred to Euler angles.
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/// </summary>
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/// <returns>The basis rotation.</returns>
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public Quaternion GetRotationQuaternion()
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{
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Basis orthonormalizedBasis = Orthonormalized();
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real_t det = orthonormalizedBasis.Determinant();
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if (det < 0)
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{
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// Ensure that the determinant is 1, such that result is a proper
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// rotation matrix which can be represented by Euler angles.
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orthonormalizedBasis = orthonormalizedBasis.Scaled(-Vector3.One);
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}
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return orthonormalizedBasis.Quaternion();
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}
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internal void SetQuaternionScale(Quaternion quaternion, Vector3 scale)
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{
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SetDiagonal(scale);
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@ -272,8 +251,8 @@ namespace Godot
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/// The returned vector contains the rotation angles in
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/// the format (X angle, Y angle, Z angle).
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///
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/// Consider using the <see cref="Quaternion()"/> method instead, which
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/// returns a <see cref="Godot.Quaternion"/> quaternion instead of Euler angles.
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/// Consider using the <see cref="GetRotationQuaternion"/> method instead, which
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/// returns a <see cref="Quaternion"/> quaternion instead of Euler angles.
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/// </summary>
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/// <returns>A <see cref="Vector3"/> representing the basis rotation in Euler angles.</returns>
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public Vector3 GetEuler()
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@ -308,6 +287,85 @@ namespace Godot
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return euler;
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}
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/// <summary>
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/// Returns the basis's rotation in the form of a quaternion.
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/// See <see cref="GetEuler()"/> if you need Euler angles, but keep in
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/// mind that quaternions should generally be preferred to Euler angles.
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/// </summary>
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/// <returns>A <see cref="Quaternion"/> representing the basis's rotation.</returns>
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internal Quaternion GetQuaternion()
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{
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real_t trace = Row0[0] + Row1[1] + Row2[2];
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if (trace > 0.0f)
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{
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real_t s = Mathf.Sqrt(trace + 1.0f) * 2f;
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real_t inv_s = 1f / s;
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return new Quaternion(
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(Row2[1] - Row1[2]) * inv_s,
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(Row0[2] - Row2[0]) * inv_s,
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(Row1[0] - Row0[1]) * inv_s,
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s * 0.25f
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);
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}
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if (Row0[0] > Row1[1] && Row0[0] > Row2[2])
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{
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real_t s = Mathf.Sqrt(Row0[0] - Row1[1] - Row2[2] + 1.0f) * 2f;
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real_t inv_s = 1f / s;
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return new Quaternion(
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s * 0.25f,
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(Row0[1] + Row1[0]) * inv_s,
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(Row0[2] + Row2[0]) * inv_s,
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(Row2[1] - Row1[2]) * inv_s
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);
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}
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if (Row1[1] > Row2[2])
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{
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real_t s = Mathf.Sqrt(-Row0[0] + Row1[1] - Row2[2] + 1.0f) * 2f;
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real_t inv_s = 1f / s;
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return new Quaternion(
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(Row0[1] + Row1[0]) * inv_s,
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s * 0.25f,
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(Row1[2] + Row2[1]) * inv_s,
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(Row0[2] - Row2[0]) * inv_s
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);
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}
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else
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{
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real_t s = Mathf.Sqrt(-Row0[0] - Row1[1] + Row2[2] + 1.0f) * 2f;
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real_t inv_s = 1f / s;
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return new Quaternion(
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(Row0[2] + Row2[0]) * inv_s,
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(Row1[2] + Row2[1]) * inv_s,
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s * 0.25f,
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(Row1[0] - Row0[1]) * inv_s
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);
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}
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}
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/// <summary>
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/// Returns the <see cref="Basis"/>'s rotation in the form of a
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/// <see cref="Quaternion"/>. See <see cref="GetEuler"/> if you
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/// need Euler angles, but keep in mind quaternions should generally
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/// be preferred to Euler angles.
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/// </summary>
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/// <returns>The basis rotation.</returns>
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public Quaternion GetRotationQuaternion()
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{
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Basis orthonormalizedBasis = Orthonormalized();
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real_t det = orthonormalizedBasis.Determinant();
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if (det < 0)
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{
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// Ensure that the determinant is 1, such that result is a proper
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// rotation matrix which can be represented by Euler angles.
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orthonormalizedBasis = orthonormalizedBasis.Scaled(-Vector3.One);
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}
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return orthonormalizedBasis.GetQuaternion();
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}
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/// <summary>
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/// Get rows by index. Rows are not very useful for user code,
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/// but are more efficient for some internal calculations.
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@ -600,64 +658,6 @@ namespace Godot
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);
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}
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/// <summary>
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/// Returns the basis's rotation in the form of a quaternion.
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/// See <see cref="GetEuler()"/> if you need Euler angles, but keep in
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/// mind that quaternions should generally be preferred to Euler angles.
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/// </summary>
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/// <returns>A <see cref="Godot.Quaternion"/> representing the basis's rotation.</returns>
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public Quaternion Quaternion()
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{
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real_t trace = Row0[0] + Row1[1] + Row2[2];
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if (trace > 0.0f)
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{
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real_t s = Mathf.Sqrt(trace + 1.0f) * 2f;
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real_t inv_s = 1f / s;
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return new Quaternion(
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(Row2[1] - Row1[2]) * inv_s,
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(Row0[2] - Row2[0]) * inv_s,
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(Row1[0] - Row0[1]) * inv_s,
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s * 0.25f
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);
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}
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if (Row0[0] > Row1[1] && Row0[0] > Row2[2])
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{
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real_t s = Mathf.Sqrt(Row0[0] - Row1[1] - Row2[2] + 1.0f) * 2f;
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real_t inv_s = 1f / s;
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return new Quaternion(
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s * 0.25f,
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(Row0[1] + Row1[0]) * inv_s,
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(Row0[2] + Row2[0]) * inv_s,
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(Row2[1] - Row1[2]) * inv_s
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);
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}
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if (Row1[1] > Row2[2])
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{
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real_t s = Mathf.Sqrt(-Row0[0] + Row1[1] - Row2[2] + 1.0f) * 2f;
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real_t inv_s = 1f / s;
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return new Quaternion(
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(Row0[1] + Row1[0]) * inv_s,
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s * 0.25f,
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(Row1[2] + Row2[1]) * inv_s,
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(Row0[2] - Row2[0]) * inv_s
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);
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}
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else
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{
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real_t s = Mathf.Sqrt(-Row0[0] - Row1[1] + Row2[2] + 1.0f) * 2f;
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real_t inv_s = 1f / s;
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return new Quaternion(
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(Row0[2] + Row2[0]) * inv_s,
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(Row1[2] + Row2[1]) * inv_s,
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s * 0.25f,
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(Row1[0] - Row0[1]) * inv_s
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);
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}
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}
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private static readonly Basis[] _orthoBases = {
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new Basis(1f, 0f, 0f, 0f, 1f, 0f, 0f, 0f, 1f),
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new Basis(0f, -1f, 0f, 1f, 0f, 0f, 0f, 0f, 1f),
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@ -745,7 +745,7 @@ namespace Godot
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/// given in the vector format as (X angle, Y angle, Z angle).
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///
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/// Consider using the <see cref="Basis(Quaternion)"/> constructor instead, which
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/// uses a <see cref="Godot.Quaternion"/> quaternion instead of Euler angles.
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/// uses a <see cref="Quaternion"/> quaternion instead of Euler angles.
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/// </summary>
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/// <param name="eulerYXZ">The Euler angles to create the basis from.</param>
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public Basis(Vector3 eulerYXZ)
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@ -377,7 +377,7 @@ namespace Godot
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/// <param name="basis">The <see cref="Basis"/> to construct from.</param>
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public Quaternion(Basis basis)
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{
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this = basis.Quaternion();
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this = basis.GetQuaternion();
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}
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/// <summary>
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