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Added static Create methods for POD types, eliminated warnings, added CMake macros for Kraken public header export

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This commit is contained in:
Kearwood Gilbert
2018-07-27 00:05:59 -07:00
parent fe16af07f1
commit 759b7af066
7 changed files with 66 additions and 19 deletions
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28
src/quaternion.cpp
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@@ -139,20 +139,20 @@ Vector3 Quaternion::eulerXYZ() const {
double a2 = 2 * (c[0] * c[2] - c[1] * c[3]);
if(a2 <= -0.99999) {
return Vector3::Create(
2.0 * atan2(c[1], c[0]),
2.0f * atan2(c[1], c[0]),
-PI * 0.5f,
0
);
} else if(a2 >= 0.99999) {
return Vector3::Create(
2.0 * atan2(c[1], c[0]),
2.0f * atan2(c[1], c[0]),
PI * 0.5f,
0
);
} else {
return Vector3::Create(
atan2(2 * (c[0] * c[1] + c[2] * c[3]), (1 - 2 * (c[1] * c[1] + c[2] * c[2]))),
asin(a2),
asinf(a2),
atan2(2 * (c[0] * c[3] + c[1] * c[2]), (1 - 2 * (c[2] * c[2] + c[3] * c[3])))
);
}
@@ -326,17 +326,17 @@ Matrix4 Quaternion::rotationMatrix() const {
// FINDME - Determine why the more optimal routine commented below wasn't working
matRotate.c[0] = 1.0 - 2.0 * (c[2] * c[2] + c[3] * c[3]);
matRotate.c[1] = 2.0 * (c[1] * c[2] - c[0] * c[3]);
matRotate.c[2] = 2.0 * (c[0] * c[2] + c[1] * c[3]);
matRotate.c[0] = 1.0f - 2.0f * (c[2] * c[2] + c[3] * c[3]);
matRotate.c[1] = 2.0f * (c[1] * c[2] - c[0] * c[3]);
matRotate.c[2] = 2.0f * (c[0] * c[2] + c[1] * c[3]);
matRotate.c[4] = 2.0 * (c[1] * c[2] + c[0] * c[3]);
matRotate.c[5] = 1.0 - 2.0 * (c[1] * c[1] + c[3] * c[3]);
matRotate.c[6] = 2.0 * (c[2] * c[3] - c[0] * c[1]);
matRotate.c[4] = 2.0f * (c[1] * c[2] + c[0] * c[3]);
matRotate.c[5] = 1.0f - 2.0f * (c[1] * c[1] + c[3] * c[3]);
matRotate.c[6] = 2.0f * (c[2] * c[3] - c[0] * c[1]);
matRotate.c[8] = 2.0 * (c[1] * c[3] - c[0] * c[2]);
matRotate.c[9] = 2.0 * (c[0] * c[1] + c[2] * c[3]);
matRotate.c[10] = 1.0 - 2.0 * (c[1] * c[1] + c[2] * c[2]);
matRotate.c[8] = 2.0f * (c[1] * c[3] - c[0] * c[2]);
matRotate.c[9] = 2.0f * (c[0] * c[1] + c[2] * c[3]);
matRotate.c[10] = 1.0f - 2.0f * (c[1] * c[1] + c[2] * c[2]);
return matRotate;
}
@@ -367,13 +367,13 @@ Quaternion Quaternion::FromRotationMatrix(const Matrix4 &m)
y = (m[1] + m[4]) / s;
z = (m[2] + m[8]) / s;
} else if (m[5] > m[10]) {
const float s = 2.0 * sqrt(1.0f + m[5] - m[0] - m[10]);
const float s = 2.0f * sqrt(1.0f + m[5] - m[0] - m[10]);
w = (m[2] - m[8]) / s;
x = (m[1] + m[4]) / s;
y = 0.25f * s;
z = (m[6] + m[9]) / s;
} else {
const float s = 2.0 * sqrt(1.0f + m[10] - m[0] - m[5]);
const float s = 2.0f * sqrt(1.0f + m[10] - m[0] - m[5]);
w = (m[4] - m[1]) / s;
x = (m[2] + m[8]) / s;
y = (m[6] + m[9]) / s;