From 838f80ed91e370d1a339e2b3d186e146b676213a Mon Sep 17 00:00:00 2001 From: Raul Santos Date: Mon, 6 Dec 2021 19:03:11 +0100 Subject: [PATCH] Rename C# `Quaternion()` -> `GetQuaternion()` To keep consistency with GDScript, the method `Quaternion()` is renamed `GetQuaternion()`, and made `internal` so it's not exposed to scripting. The documentation references are also fixed. Also, the methods `GetQuaternion()` and `GetRotationQuaternion()` are moved below `GetEuler()` to follow alphabetic order. --- .../glue/GodotSharp/GodotSharp/Core/Basis.cs | 164 +++++++++--------- .../GodotSharp/GodotSharp/Core/Quaternion.cs | 2 +- 2 files changed, 83 insertions(+), 83 deletions(-) diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs index bfbf1a097e6..656796c5c77 100644 --- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs +++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs @@ -209,27 +209,6 @@ namespace Godot } } - /// - /// Returns the 's rotation in the form of a - /// . See if you - /// need Euler angles, but keep in mind quaternions should generally - /// be preferred to Euler angles. - /// - /// The basis rotation. - public Quaternion GetRotationQuaternion() - { - Basis orthonormalizedBasis = Orthonormalized(); - real_t det = orthonormalizedBasis.Determinant(); - if (det < 0) - { - // Ensure that the determinant is 1, such that result is a proper - // rotation matrix which can be represented by Euler angles. - orthonormalizedBasis = orthonormalizedBasis.Scaled(-Vector3.One); - } - - return orthonormalizedBasis.Quaternion(); - } - internal void SetQuaternionScale(Quaternion quaternion, Vector3 scale) { SetDiagonal(scale); @@ -272,8 +251,8 @@ namespace Godot /// The returned vector contains the rotation angles in /// the format (X angle, Y angle, Z angle). /// - /// Consider using the method instead, which - /// returns a quaternion instead of Euler angles. + /// Consider using the method instead, which + /// returns a quaternion instead of Euler angles. /// /// A representing the basis rotation in Euler angles. public Vector3 GetEuler() @@ -308,6 +287,85 @@ namespace Godot return euler; } + /// + /// Returns the basis's rotation in the form of a quaternion. + /// See if you need Euler angles, but keep in + /// mind that quaternions should generally be preferred to Euler angles. + /// + /// A representing the basis's rotation. + internal Quaternion GetQuaternion() + { + real_t trace = Row0[0] + Row1[1] + Row2[2]; + + if (trace > 0.0f) + { + real_t s = Mathf.Sqrt(trace + 1.0f) * 2f; + real_t inv_s = 1f / s; + return new Quaternion( + (Row2[1] - Row1[2]) * inv_s, + (Row0[2] - Row2[0]) * inv_s, + (Row1[0] - Row0[1]) * inv_s, + s * 0.25f + ); + } + + if (Row0[0] > Row1[1] && Row0[0] > Row2[2]) + { + real_t s = Mathf.Sqrt(Row0[0] - Row1[1] - Row2[2] + 1.0f) * 2f; + real_t inv_s = 1f / s; + return new Quaternion( + s * 0.25f, + (Row0[1] + Row1[0]) * inv_s, + (Row0[2] + Row2[0]) * inv_s, + (Row2[1] - Row1[2]) * inv_s + ); + } + + if (Row1[1] > Row2[2]) + { + real_t s = Mathf.Sqrt(-Row0[0] + Row1[1] - Row2[2] + 1.0f) * 2f; + real_t inv_s = 1f / s; + return new Quaternion( + (Row0[1] + Row1[0]) * inv_s, + s * 0.25f, + (Row1[2] + Row2[1]) * inv_s, + (Row0[2] - Row2[0]) * inv_s + ); + } + else + { + real_t s = Mathf.Sqrt(-Row0[0] - Row1[1] + Row2[2] + 1.0f) * 2f; + real_t inv_s = 1f / s; + return new Quaternion( + (Row0[2] + Row2[0]) * inv_s, + (Row1[2] + Row2[1]) * inv_s, + s * 0.25f, + (Row1[0] - Row0[1]) * inv_s + ); + } + } + + /// + /// Returns the 's rotation in the form of a + /// . See if you + /// need Euler angles, but keep in mind quaternions should generally + /// be preferred to Euler angles. + /// + /// The basis rotation. + public Quaternion GetRotationQuaternion() + { + Basis orthonormalizedBasis = Orthonormalized(); + real_t det = orthonormalizedBasis.Determinant(); + if (det < 0) + { + // Ensure that the determinant is 1, such that result is a proper + // rotation matrix which can be represented by Euler angles. + orthonormalizedBasis = orthonormalizedBasis.Scaled(-Vector3.One); + } + + return orthonormalizedBasis.GetQuaternion(); + } + /// /// Get rows by index. Rows are not very useful for user code, /// but are more efficient for some internal calculations. @@ -600,64 +658,6 @@ namespace Godot ); } - /// - /// Returns the basis's rotation in the form of a quaternion. - /// See if you need Euler angles, but keep in - /// mind that quaternions should generally be preferred to Euler angles. - /// - /// A representing the basis's rotation. - public Quaternion Quaternion() - { - real_t trace = Row0[0] + Row1[1] + Row2[2]; - - if (trace > 0.0f) - { - real_t s = Mathf.Sqrt(trace + 1.0f) * 2f; - real_t inv_s = 1f / s; - return new Quaternion( - (Row2[1] - Row1[2]) * inv_s, - (Row0[2] - Row2[0]) * inv_s, - (Row1[0] - Row0[1]) * inv_s, - s * 0.25f - ); - } - - if (Row0[0] > Row1[1] && Row0[0] > Row2[2]) - { - real_t s = Mathf.Sqrt(Row0[0] - Row1[1] - Row2[2] + 1.0f) * 2f; - real_t inv_s = 1f / s; - return new Quaternion( - s * 0.25f, - (Row0[1] + Row1[0]) * inv_s, - (Row0[2] + Row2[0]) * inv_s, - (Row2[1] - Row1[2]) * inv_s - ); - } - - if (Row1[1] > Row2[2]) - { - real_t s = Mathf.Sqrt(-Row0[0] + Row1[1] - Row2[2] + 1.0f) * 2f; - real_t inv_s = 1f / s; - return new Quaternion( - (Row0[1] + Row1[0]) * inv_s, - s * 0.25f, - (Row1[2] + Row2[1]) * inv_s, - (Row0[2] - Row2[0]) * inv_s - ); - } - else - { - real_t s = Mathf.Sqrt(-Row0[0] - Row1[1] + Row2[2] + 1.0f) * 2f; - real_t inv_s = 1f / s; - return new Quaternion( - (Row0[2] + Row2[0]) * inv_s, - (Row1[2] + Row2[1]) * inv_s, - s * 0.25f, - (Row1[0] - Row0[1]) * inv_s - ); - } - } - private static readonly Basis[] _orthoBases = { new Basis(1f, 0f, 0f, 0f, 1f, 0f, 0f, 0f, 1f), new Basis(0f, -1f, 0f, 1f, 0f, 0f, 0f, 0f, 1f), @@ -745,7 +745,7 @@ namespace Godot /// given in the vector format as (X angle, Y angle, Z angle). /// /// Consider using the constructor instead, which - /// uses a quaternion instead of Euler angles. + /// uses a quaternion instead of Euler angles. /// /// The Euler angles to create the basis from. public Basis(Vector3 eulerYXZ) diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs index dfb8e87bce1..e38dca414f7 100644 --- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs +++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs @@ -377,7 +377,7 @@ namespace Godot /// The to construct from. public Quaternion(Basis basis) { - this = basis.Quaternion(); + this = basis.GetQuaternion(); } ///