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Merge pull request #21205 from KellyThomas/c-sharp-feature-parity-quat

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[Mono] Quat - add some missing constructors and methods
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Ignacio Etcheverry 2018-08-27 16:18:09 +02:00 committed by GitHub
commit 78bb53f85d
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3 changed files with 73 additions and 32 deletions
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2
core/math/quat.cpp
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@ -134,7 +134,7 @@ Quat Quat::normalized() const {
}
bool Quat::is_normalized() const {
return Math::is_equal_approx(length(), 1.0);
return Math::is_equal_approx(length_squared(), 1.0);
}
Quat Quat::inverse() const {

2
modules/mono/glue/cs_files/Basis.cs
View file

@ -426,7 +426,7 @@ namespace Godot
public Basis(Quat quat)
{
real_t s = 2.0f / quat.LengthSquared();
real_t s = 2.0f / quat.LengthSquared;
real_t xs = quat.x * s;
real_t ys = quat.y * s;

101
modules/mono/glue/cs_files/Quat.cs
View file

@ -11,18 +11,11 @@ namespace Godot
[StructLayout(LayoutKind.Sequential)]
public struct Quat : IEquatable<Quat>
{
private static readonly Quat identity = new Quat(0f, 0f, 0f, 1f);
public real_t x;
public real_t y;
public real_t z;
public real_t w;
public static Quat Identity
{
get { return identity; }
}
public real_t this[int index]
{
get
@ -63,6 +56,16 @@ namespace Godot
}
}
public real_t Length
{
get { return Mathf.Sqrt(LengthSquared); }
}
public real_t LengthSquared
{
get { return Dot(this); }
}
public Quat CubicSlerp(Quat b, Quat preA, Quat postB, real_t t)
{
real_t t2 = (1.0f - t) * t * 2f;
@ -76,24 +79,20 @@ namespace Godot
return x * b.x + y * b.y + z * b.z + w * b.w;
}
public Vector3 GetEuler()
{
var basis = new Basis(this);
return basis.GetEuler();
}
public Quat Inverse()
{
return new Quat(-x, -y, -z, w);
}
public real_t Length()
{
return Mathf.Sqrt(LengthSquared());
}
public real_t LengthSquared()
{
return Dot(this);
}
public Quat Normalized()
{
return this / Length();
return this / Length;
}
public void Set(real_t x, real_t y, real_t z, real_t w)
@ -103,12 +102,20 @@ namespace Godot
this.z = z;
this.w = w;
}
public void Set(Quat q)
{
x = q.x;
y = q.y;
z = q.z;
w = q.w;
this = q;
}
public void SetAxisAngle(Vector3 axis, real_t angle)
{
this = new Quat(axis, angle);
}
public void SetEuler(Vector3 eulerYXZ)
{
this = new Quat(eulerYXZ);
}
public Quat Slerp(Quat b, real_t t)
@ -192,6 +199,9 @@ namespace Godot
return new Vector3(q.x, q.y, q.z);
}
// Static Readonly Properties
public static Quat Identity { get; } = new Quat(0f, 0f, 0f, 1f);
// Constructors
public Quat(real_t x, real_t y, real_t z, real_t w)
{
@ -199,15 +209,46 @@ namespace Godot
this.y = y;
this.z = z;
this.w = w;
}
public Quat(Quat q)
{
x = q.x;
y = q.y;
z = q.z;
w = q.w;
}
public bool IsNormalized()
{
return Mathf.Abs(LengthSquared - 1) <= Mathf.Epsilon;
}
public Quat(Quat q)
{
this = q;
}
public Quat(Basis basis)
{
this = basis.Quat();
}
public Quat(Vector3 eulerYXZ)
{
real_t half_a1 = eulerYXZ.y * (real_t)0.5;
real_t half_a2 = eulerYXZ.x * (real_t)0.5;
real_t half_a3 = eulerYXZ.z * (real_t)0.5;
// R = Y(a1).X(a2).Z(a3) convention for Euler angles.
// Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-6)
// a3 is the angle of the first rotation, following the notation in this reference.
real_t cos_a1 = Mathf.Cos(half_a1);
real_t sin_a1 = Mathf.Sin(half_a1);
real_t cos_a2 = Mathf.Cos(half_a2);
real_t sin_a2 = Mathf.Sin(half_a2);
real_t cos_a3 = Mathf.Cos(half_a3);
real_t sin_a3 = Mathf.Sin(half_a3);
x = sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3;
y = sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3;
z = -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3;
w = sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3;
}
public Quat(Vector3 axis, real_t angle)
{
real_t d = axis.Length();