Fix Quaternion multiplication operator
This commit is contained in:
parent
518ec9ca75
commit
744b43b527
|
@ -86,13 +86,6 @@ public:
|
||||||
void operator*=(const Quaternion &p_q);
|
void operator*=(const Quaternion &p_q);
|
||||||
Quaternion operator*(const Quaternion &p_q) const;
|
Quaternion operator*(const Quaternion &p_q) const;
|
||||||
|
|
||||||
Quaternion operator*(const Vector3 &v) const {
|
|
||||||
return Quaternion(w * v.x + y * v.z - z * v.y,
|
|
||||||
w * v.y + z * v.x - x * v.z,
|
|
||||||
w * v.z + x * v.y - y * v.x,
|
|
||||||
-x * v.x - y * v.y - z * v.z);
|
|
||||||
}
|
|
||||||
|
|
||||||
_FORCE_INLINE_ Vector3 xform(const Vector3 &v) const {
|
_FORCE_INLINE_ Vector3 xform(const Vector3 &v) const {
|
||||||
#ifdef MATH_CHECKS
|
#ifdef MATH_CHECKS
|
||||||
ERR_FAIL_COND_V_MSG(!is_normalized(), v, "The quaternion must be normalized.");
|
ERR_FAIL_COND_V_MSG(!is_normalized(), v, "The quaternion must be normalized.");
|
||||||
|
|
|
@ -472,26 +472,22 @@ namespace Godot
|
||||||
return new Quaternion(-left.x, -left.y, -left.z, -left.w);
|
return new Quaternion(-left.x, -left.y, -left.z, -left.w);
|
||||||
}
|
}
|
||||||
|
|
||||||
public static Quaternion operator *(Quaternion left, Vector3 right)
|
public static Vector3 operator *(Quaternion quat, Vector3 vec)
|
||||||
{
|
{
|
||||||
return new Quaternion
|
#if DEBUG
|
||||||
(
|
if (!quat.IsNormalized())
|
||||||
(left.w * right.x) + (left.y * right.z) - (left.z * right.y),
|
{
|
||||||
(left.w * right.y) + (left.z * right.x) - (left.x * right.z),
|
throw new InvalidOperationException("Quaternion is not normalized.");
|
||||||
(left.w * right.z) + (left.x * right.y) - (left.y * right.x),
|
}
|
||||||
-(left.x * right.x) - (left.y * right.y) - (left.z * right.z)
|
#endif
|
||||||
);
|
var u = new Vector3(quat.x, quat.y, quat.z);
|
||||||
|
Vector3 uv = u.Cross(vec);
|
||||||
|
return vec + (((uv * quat.w) + u.Cross(uv)) * 2);
|
||||||
}
|
}
|
||||||
|
|
||||||
public static Quaternion operator *(Vector3 left, Quaternion right)
|
public static Vector3 operator *(Vector3 vec, Quaternion quat)
|
||||||
{
|
{
|
||||||
return new Quaternion
|
return quat.Inverse() * vec;
|
||||||
(
|
|
||||||
(right.w * left.x) + (right.y * left.z) - (right.z * left.y),
|
|
||||||
(right.w * left.y) + (right.z * left.x) - (right.x * left.z),
|
|
||||||
(right.w * left.z) + (right.x * left.y) - (right.y * left.x),
|
|
||||||
-(right.x * left.x) - (right.y * left.y) - (right.z * left.z)
|
|
||||||
);
|
|
||||||
}
|
}
|
||||||
|
|
||||||
public static Quaternion operator *(Quaternion left, real_t right)
|
public static Quaternion operator *(Quaternion left, real_t right)
|
||||||
|
|
Loading…
Reference in a new issue