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- #ifndef QUAT_H
- #define QUAT_H
- #include <cmath>
- #include "Vector3.hpp"
- // #include "Basis.h"
- namespace godot {
- class Quat {
- public:
- static const Quat IDENTITY;
- real_t x, y, z, w;
- real_t length_squared() const;
- real_t length() const;
- void normalize();
- Quat normalized() const;
- bool is_normalized() const;
- Quat inverse() const;
- void set_euler_xyz(const Vector3 &p_euler);
- Vector3 get_euler_xyz() const;
- void set_euler_yxz(const Vector3 &p_euler);
- Vector3 get_euler_yxz() const;
- inline void set_euler(const Vector3 &p_euler) { set_euler_yxz(p_euler); }
- inline Vector3 get_euler() const { return get_euler_yxz(); }
- real_t dot(const Quat &q) const;
- Quat slerp(const Quat &q, const real_t &t) const;
- Quat slerpni(const Quat &q, const real_t &t) const;
- Quat cubic_slerp(const Quat &q, const Quat &prep, const Quat &postq, const real_t &t) const;
- void get_axis_and_angle(Vector3 &r_axis, real_t &r_angle) const;
- void set_axis_angle(const Vector3 &axis, const float angle);
- void operator*=(const Quat &q);
- Quat operator*(const Quat &q) const;
- Quat operator*(const Vector3 &v) const;
- Vector3 xform(const Vector3 &v) const;
- void operator+=(const Quat &q);
- void operator-=(const Quat &q);
- void operator*=(const real_t &s);
- void operator/=(const real_t &s);
- Quat operator+(const Quat &q2) const;
- Quat operator-(const Quat &q2) const;
- Quat operator-() const;
- Quat operator*(const real_t &s) const;
- Quat operator/(const real_t &s) const;
- bool operator==(const Quat &p_quat) const;
- bool operator!=(const Quat &p_quat) const;
- operator String() const;
- inline void set(real_t p_x, real_t p_y, real_t p_z, real_t p_w) {
- x = p_x;
- y = p_y;
- z = p_z;
- w = p_w;
- }
- inline Quat(real_t p_x, real_t p_y, real_t p_z, real_t p_w) {
- x = p_x;
- y = p_y;
- z = p_z;
- w = p_w;
- }
- Quat(const Vector3 &axis, const real_t &angle);
- Quat(const Vector3 &v0, const Vector3 &v1);
- inline Quat() {
- x = y = z = 0;
- w = 1;
- }
- };
- } // namespace godot
- #endif // QUAT_H
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