Remove Quat set methods in favour of constructors
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Marcel Admiraal
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ad0f1c6670
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8b983bddfb
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@ -33,32 +33,6 @@
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#include "core/math/basis.h"
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#include "core/string/print_string.h"
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// set_euler_xyz expects a vector containing the Euler angles in the format
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// (ax,ay,az), where ax is the angle of rotation around x axis,
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// and similar for other axes.
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// This implementation uses XYZ convention (Z is the first rotation).
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void Quat::set_euler_xyz(const Vector3 &p_euler) {
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real_t half_a1 = p_euler.x * 0.5;
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real_t half_a2 = p_euler.y * 0.5;
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real_t half_a3 = p_euler.z * 0.5;
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// R = X(a1).Y(a2).Z(a3) convention for Euler angles.
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// Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-2)
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// a3 is the angle of the first rotation, following the notation in this reference.
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real_t cos_a1 = Math::cos(half_a1);
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real_t sin_a1 = Math::sin(half_a1);
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real_t cos_a2 = Math::cos(half_a2);
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real_t sin_a2 = Math::sin(half_a2);
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real_t cos_a3 = Math::cos(half_a3);
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real_t sin_a3 = Math::sin(half_a3);
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set(sin_a1 * cos_a2 * cos_a3 + sin_a2 * sin_a3 * cos_a1,
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-sin_a1 * sin_a3 * cos_a2 + sin_a2 * cos_a1 * cos_a3,
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sin_a1 * sin_a2 * cos_a3 + sin_a3 * cos_a1 * cos_a2,
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-sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3);
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}
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// get_euler_xyz returns a vector containing the Euler angles in the format
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// (ax,ay,az), where ax is the angle of rotation around x axis,
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// and similar for other axes.
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@ -68,32 +42,6 @@ Vector3 Quat::get_euler_xyz() const {
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return m.get_euler_xyz();
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}
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// set_euler_yxz expects a vector containing the Euler angles in the format
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// (ax,ay,az), where ax is the angle of rotation around x axis,
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// and similar for other axes.
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// This implementation uses YXZ convention (Z is the first rotation).
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void Quat::set_euler_yxz(const Vector3 &p_euler) {
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real_t half_a1 = p_euler.y * 0.5;
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real_t half_a2 = p_euler.x * 0.5;
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real_t half_a3 = p_euler.z * 0.5;
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// R = Y(a1).X(a2).Z(a3) convention for Euler angles.
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// Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-6)
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// a3 is the angle of the first rotation, following the notation in this reference.
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real_t cos_a1 = Math::cos(half_a1);
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real_t sin_a1 = Math::sin(half_a1);
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real_t cos_a2 = Math::cos(half_a2);
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real_t sin_a2 = Math::sin(half_a2);
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real_t cos_a3 = Math::cos(half_a3);
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real_t sin_a3 = Math::sin(half_a3);
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set(sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3,
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sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3,
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-sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3,
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sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3);
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}
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// get_euler_yxz returns a vector containing the Euler angles in the format
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// (ax,ay,az), where ax is the angle of rotation around x axis,
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// and similar for other axes.
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@ -107,10 +55,10 @@ Vector3 Quat::get_euler_yxz() const {
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}
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void Quat::operator*=(const Quat &p_q) {
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set(w * p_q.x + x * p_q.w + y * p_q.z - z * p_q.y,
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w * p_q.y + y * p_q.w + z * p_q.x - x * p_q.z,
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w * p_q.z + z * p_q.w + x * p_q.y - y * p_q.x,
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w * p_q.w - x * p_q.x - y * p_q.y - z * p_q.z);
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x = w * p_q.x + x * p_q.w + y * p_q.z - z * p_q.y;
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y = w * p_q.y + y * p_q.w + z * p_q.x - x * p_q.z;
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z = w * p_q.z + z * p_q.w + x * p_q.y - y * p_q.x;
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w = w * p_q.w - x * p_q.x - y * p_q.y - z * p_q.z;
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}
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Quat Quat::operator*(const Quat &p_q) const {
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@ -233,18 +181,49 @@ Quat::operator String() const {
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return String::num(x) + ", " + String::num(y) + ", " + String::num(z) + ", " + String::num(w);
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}
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void Quat::set_axis_angle(const Vector3 &axis, const real_t &angle) {
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Quat::Quat(const Vector3 &p_axis, real_t p_angle) {
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#ifdef MATH_CHECKS
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ERR_FAIL_COND_MSG(!axis.is_normalized(), "The axis Vector3 must be normalized.");
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ERR_FAIL_COND_MSG(!p_axis.is_normalized(), "The axis Vector3 must be normalized.");
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#endif
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real_t d = axis.length();
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real_t d = p_axis.length();
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if (d == 0) {
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set(0, 0, 0, 0);
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x = 0;
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y = 0;
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z = 0;
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w = 0;
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} else {
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real_t sin_angle = Math::sin(angle * 0.5);
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real_t cos_angle = Math::cos(angle * 0.5);
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real_t sin_angle = Math::sin(p_angle * 0.5);
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real_t cos_angle = Math::cos(p_angle * 0.5);
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real_t s = sin_angle / d;
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set(axis.x * s, axis.y * s, axis.z * s,
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cos_angle);
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x = p_axis.x * s;
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y = p_axis.y * s;
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z = p_axis.z * s;
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w = cos_angle;
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}
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}
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// Euler constructor expects a vector containing the Euler angles in the format
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// (ax, ay, az), where ax is the angle of rotation around x axis,
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// and similar for other axes.
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// This implementation uses YXZ convention (Z is the first rotation).
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Quat::Quat(const Vector3 &p_euler) {
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real_t half_a1 = p_euler.y * 0.5;
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real_t half_a2 = p_euler.x * 0.5;
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real_t half_a3 = p_euler.z * 0.5;
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// R = Y(a1).X(a2).Z(a3) convention for Euler angles.
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// Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-6)
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// a3 is the angle of the first rotation, following the notation in this reference.
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real_t cos_a1 = Math::cos(half_a1);
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real_t sin_a1 = Math::sin(half_a1);
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real_t cos_a2 = Math::cos(half_a2);
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real_t sin_a2 = Math::sin(half_a2);
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real_t cos_a3 = Math::cos(half_a3);
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real_t sin_a3 = Math::sin(half_a3);
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x = sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3;
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y = sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3;
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z = -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3;
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w = sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3;
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}
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@ -65,19 +65,14 @@ public:
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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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void set_euler_xyz(const Vector3 &p_euler);
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Vector3 get_euler_xyz() const;
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void set_euler_yxz(const Vector3 &p_euler);
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Vector3 get_euler_yxz() const;
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void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); };
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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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void set_axis_angle(const Vector3 &axis, const real_t &angle);
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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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@ -124,23 +119,19 @@ public:
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operator String() const;
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inline void set(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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_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 &axis, const real_t &angle) { set_axis_angle(axis, angle); }
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Quat(const Vector3 &euler) { set_euler(euler); }
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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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@ -1126,10 +1126,6 @@ static void _register_variant_builtin_methods() {
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bind_method(Quat, cubic_slerp, sarray("b", "pre_a", "post_b", "weight"), varray());
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bind_method(Quat, get_euler, sarray(), varray());
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// FIXME: Quat is atomic, this should be done via construcror
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//ADDFUNC1(QUAT, NIL, Quat, set_euler, VECTOR3, "euler", varray());
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//ADDFUNC2(QUAT, NIL, Quat, set_axis_angle, VECTOR3, "axis", FLOAT, "angle", varray());
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/* Color */
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bind_method(Color, to_argb32, sarray(), varray());
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@ -5287,8 +5287,7 @@ void GLTFDocument::_convert_mult_mesh_instance_to_gltf(Node *p_scene_parent, con
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transform.origin =
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Vector3(xform_2d.get_origin().x, 0, xform_2d.get_origin().y);
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real_t rotation = xform_2d.get_rotation();
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Quat quat;
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quat.set_axis_angle(Vector3(0, 1, 0), rotation);
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Quat quat(Vector3(0, 1, 0), rotation);
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Size2 scale = xform_2d.get_scale();
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transform.basis.set_quat_scale(quat,
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Vector3(scale.x, 0, scale.y));
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@ -6040,14 +6039,12 @@ GLTFAnimation::Track GLTFDocument::_convert_animation_track(Ref<GLTFState> state
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p_track.rotation_track.interpolation = gltf_interpolation;
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for (int32_t key_i = 0; key_i < key_count; key_i++) {
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Quat rotation;
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Vector3 rotation_degrees = p_animation->track_get_key_value(p_track_i, key_i);
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Vector3 rotation_radian;
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rotation_radian.x = Math::deg2rad(rotation_degrees.x);
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rotation_radian.y = Math::deg2rad(rotation_degrees.y);
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rotation_radian.z = Math::deg2rad(rotation_degrees.z);
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rotation.set_euler(rotation_radian);
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p_track.rotation_track.values.write[key_i] = rotation;
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p_track.rotation_track.values.write[key_i] = Quat(rotation_radian);
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}
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} else if (path.find(":scale") != -1) {
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p_track.scale_track.times = times;
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