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Merge pull request #55675 from raulsntos/csharp-basis-quaternion

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Rename C# `Quaternion()` -> `GetQuaternion()`
This commit is contained in:
Ignacio Roldán Etcheverry 2021-12-07 12:48:55 +01:00 committed by GitHub
commit 37302b5c24
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 83 additions and 83 deletions
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164
modules/mono/glue/GodotSharp/GodotSharp/Core/Basis.cs
View File

@ -209,27 +209,6 @@ namespace Godot
}
}
/// <summary>
/// Returns the <see cref="Basis"/>'s rotation in the form of a
/// <see cref="Quaternion"/>. See <see cref="GetEuler"/> if you
/// need Euler angles, but keep in mind quaternions should generally
/// be preferred to Euler angles.
/// </summary>
/// <returns>The basis rotation.</returns>
public Quaternion GetRotationQuaternion()
{
Basis orthonormalizedBasis = Orthonormalized();
real_t det = orthonormalizedBasis.Determinant();
if (det < 0)
{
// Ensure that the determinant is 1, such that result is a proper
// rotation matrix which can be represented by Euler angles.
orthonormalizedBasis = orthonormalizedBasis.Scaled(-Vector3.One);
}
return orthonormalizedBasis.Quaternion();
}
internal void SetQuaternionScale(Quaternion quaternion, Vector3 scale)
{
SetDiagonal(scale);
@ -272,8 +251,8 @@ namespace Godot
/// The returned vector contains the rotation angles in
/// the format (X angle, Y angle, Z angle).
///
/// Consider using the <see cref="Quaternion()"/> method instead, which
/// returns a <see cref="Godot.Quaternion"/> quaternion instead of Euler angles.
/// Consider using the <see cref="GetRotationQuaternion"/> method instead, which
/// returns a <see cref="Quaternion"/> quaternion instead of Euler angles.
/// </summary>
/// <returns>A <see cref="Vector3"/> representing the basis rotation in Euler angles.</returns>
public Vector3 GetEuler()
@ -308,6 +287,85 @@ namespace Godot
return euler;
}
/// <summary>
/// Returns the basis's rotation in the form of a quaternion.
/// See <see cref="GetEuler()"/> if you need Euler angles, but keep in
/// mind that quaternions should generally be preferred to Euler angles.
/// </summary>
/// <returns>A <see cref="Quaternion"/> representing the basis's rotation.</returns>
internal Quaternion GetQuaternion()
{
real_t trace = Row0[0] + Row1[1] + Row2[2];
if (trace > 0.0f)
{
real_t s = Mathf.Sqrt(trace + 1.0f) * 2f;
real_t inv_s = 1f / s;
return new Quaternion(
(Row2[1] - Row1[2]) * inv_s,
(Row0[2] - Row2[0]) * inv_s,
(Row1[0] - Row0[1]) * inv_s,
s * 0.25f
);
}
if (Row0[0] > Row1[1] && Row0[0] > Row2[2])
{
real_t s = Mathf.Sqrt(Row0[0] - Row1[1] - Row2[2] + 1.0f) * 2f;
real_t inv_s = 1f / s;
return new Quaternion(
s * 0.25f,
(Row0[1] + Row1[0]) * inv_s,
(Row0[2] + Row2[0]) * inv_s,
(Row2[1] - Row1[2]) * inv_s
);
}
if (Row1[1] > Row2[2])
{
real_t s = Mathf.Sqrt(-Row0[0] + Row1[1] - Row2[2] + 1.0f) * 2f;
real_t inv_s = 1f / s;
return new Quaternion(
(Row0[1] + Row1[0]) * inv_s,
s * 0.25f,
(Row1[2] + Row2[1]) * inv_s,
(Row0[2] - Row2[0]) * inv_s
);
}
else
{
real_t s = Mathf.Sqrt(-Row0[0] - Row1[1] + Row2[2] + 1.0f) * 2f;
real_t inv_s = 1f / s;
return new Quaternion(
(Row0[2] + Row2[0]) * inv_s,
(Row1[2] + Row2[1]) * inv_s,
s * 0.25f,
(Row1[0] - Row0[1]) * inv_s
);
}
}
/// <summary>
/// Returns the <see cref="Basis"/>'s rotation in the form of a
/// <see cref="Quaternion"/>. See <see cref="GetEuler"/> if you
/// need Euler angles, but keep in mind quaternions should generally
/// be preferred to Euler angles.
/// </summary>
/// <returns>The basis rotation.</returns>
public Quaternion GetRotationQuaternion()
{
Basis orthonormalizedBasis = Orthonormalized();
real_t det = orthonormalizedBasis.Determinant();
if (det < 0)
{
// Ensure that the determinant is 1, such that result is a proper
// rotation matrix which can be represented by Euler angles.
orthonormalizedBasis = orthonormalizedBasis.Scaled(-Vector3.One);
}
return orthonormalizedBasis.GetQuaternion();
}
/// <summary>
/// Get rows by index. Rows are not very useful for user code,
/// but are more efficient for some internal calculations.
@ -600,64 +658,6 @@ namespace Godot
);
}
/// <summary>
/// Returns the basis's rotation in the form of a quaternion.
/// See <see cref="GetEuler()"/> if you need Euler angles, but keep in
/// mind that quaternions should generally be preferred to Euler angles.
/// </summary>
/// <returns>A <see cref="Godot.Quaternion"/> representing the basis's rotation.</returns>
public Quaternion Quaternion()
{
real_t trace = Row0[0] + Row1[1] + Row2[2];
if (trace > 0.0f)
{
real_t s = Mathf.Sqrt(trace + 1.0f) * 2f;
real_t inv_s = 1f / s;
return new Quaternion(
(Row2[1] - Row1[2]) * inv_s,
(Row0[2] - Row2[0]) * inv_s,
(Row1[0] - Row0[1]) * inv_s,
s * 0.25f
);
}
if (Row0[0] > Row1[1] && Row0[0] > Row2[2])
{
real_t s = Mathf.Sqrt(Row0[0] - Row1[1] - Row2[2] + 1.0f) * 2f;
real_t inv_s = 1f / s;
return new Quaternion(
s * 0.25f,
(Row0[1] + Row1[0]) * inv_s,
(Row0[2] + Row2[0]) * inv_s,
(Row2[1] - Row1[2]) * inv_s
);
}
if (Row1[1] > Row2[2])
{
real_t s = Mathf.Sqrt(-Row0[0] + Row1[1] - Row2[2] + 1.0f) * 2f;
real_t inv_s = 1f / s;
return new Quaternion(
(Row0[1] + Row1[0]) * inv_s,
s * 0.25f,
(Row1[2] + Row2[1]) * inv_s,
(Row0[2] - Row2[0]) * inv_s
);
}
else
{
real_t s = Mathf.Sqrt(-Row0[0] - Row1[1] + Row2[2] + 1.0f) * 2f;
real_t inv_s = 1f / s;
return new Quaternion(
(Row0[2] + Row2[0]) * inv_s,
(Row1[2] + Row2[1]) * inv_s,
s * 0.25f,
(Row1[0] - Row0[1]) * inv_s
);
}
}
private static readonly Basis[] _orthoBases = {
new Basis(1f, 0f, 0f, 0f, 1f, 0f, 0f, 0f, 1f),
new Basis(0f, -1f, 0f, 1f, 0f, 0f, 0f, 0f, 1f),
@ -745,7 +745,7 @@ namespace Godot
/// given in the vector format as (X angle, Y angle, Z angle).
///
/// Consider using the <see cref="Basis(Quaternion)"/> constructor instead, which
/// uses a <see cref="Godot.Quaternion"/> quaternion instead of Euler angles.
/// uses a <see cref="Quaternion"/> quaternion instead of Euler angles.
/// </summary>
/// <param name="eulerYXZ">The Euler angles to create the basis from.</param>
public Basis(Vector3 eulerYXZ)

2
modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
View File

@ -377,7 +377,7 @@ namespace Godot
/// <param name="basis">The <see cref="Basis"/> to construct from.</param>
public Quaternion(Basis basis)
{
this = basis.Quaternion();
this = basis.GetQuaternion();
}
/// <summary>