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Performance Optimizes

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Small bug fixes
Implemented KRVector4
This commit is contained in:
Kearwood Gilbert
2013-04-24 12:48:55 -07:00
parent 0d7cb8b315
commit e6207fbb83
29 changed files with 1115 additions and 269 deletions
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19
KREngine/kraken/KRQuaternion.cpp
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@@ -81,10 +81,17 @@ KRQuaternion::~KRQuaternion() {
void KRQuaternion::setEulerZYX(const KRVector3 &euler) {
// ZYX Order!
m_val[0] = cos(euler[0] / 2.0) * cos(euler[1] / 2.0) * cos(euler[2] / 2.0) + sin(euler[0] / 2.0) * sin(euler[1] / 2.0) * sin(euler[2] / 2.0);
m_val[1] = sin(euler[0] / 2.0) * cos(euler[1] / 2.0) * cos(euler[2] / 2.0) - cos(euler[0] / 2.0) * sin(euler[1] / 2.0) * sin(euler[2] / 2.0);
m_val[2] = cos(euler[0] / 2.0) * sin(euler[1] / 2.0) * cos(euler[2] / 2.0) + sin(euler[0] / 2.0) * cos(euler[1] / 2.0) * sin(euler[2] / 2.0);
m_val[3] = cos(euler[0] / 2.0) * cos(euler[1] / 2.0) * sin(euler[2] / 2.0) - sin(euler[0] / 2.0) * sin(euler[1] / 2.0) * cos(euler[2] / 2.0);
float c1 = cos(euler[0] * 0.5f);
float c2 = cos(euler[1] * 0.5f);
float c3 = cos(euler[2] * 0.5f);
float s1 = sin(euler[0] * 0.5f);
float s2 = sin(euler[1] * 0.5f);
float s3 = sin(euler[2] * 0.5f);
m_val[0] = c1 * c2 * c3 + s1 * s2 * s3;
m_val[1] = s1 * c2 * c3 - c1 * s2 * s3;
m_val[2] = c1 * s2 * c3 + s1 * c2 * s3;
m_val[3] = c1 * c2 * s3 - s1 * s2 * c3;
}
float KRQuaternion::operator [](unsigned i) const {
@@ -100,13 +107,13 @@ KRVector3 KRQuaternion::eulerXYZ() const {
if(a2 <= -0.99999) {
return KRVector3(
2.0 * atan2(m_val[1], m_val[0]),
-PI / 2.0,
-PI * 0.5f,
0
);
} else if(a2 >= 0.99999) {
return KRVector3(
2.0 * atan2(m_val[1], m_val[0]),
PI / 2.0,
PI * 0.5f,
0
);
} else {