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Havok: Add hkQuaternionf::setMulInverse/setInverseMul

This commit is contained in:
Léo Lam 2022-01-28 15:39:50 +01:00
parent 2d352a8e0b
commit a3bf47bd9d
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GPG Key ID: 0DF30F9081000741
1 changed files with 29 additions and 1 deletions
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30
lib/hkStubs/Havok/Common/Base/Math/Quaternion/hkQuaternionf.h
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@ -26,8 +26,14 @@ public:
HK_FORCE_INLINE hkFloat32 getAngle() const; HK_FORCE_INLINE hkFloat32 getAngle() const;
hkSimdFloat32 getAngleSr() const; hkSimdFloat32 getAngleSr() const;
/// self = self * q
HK_FORCE_INLINE void mul(hkQuaternionfParameter q); HK_FORCE_INLINE void mul(hkQuaternionfParameter q);
HK_FORCE_INLINE void setMul(hkQuaternionfParameter q0, hkQuaternionfParameter q1); /// self = r * q
HK_FORCE_INLINE void setMul(hkQuaternionfParameter r, hkQuaternionfParameter q);
/// self = r * q^-1
HK_FORCE_INLINE void setMulInverse(hkQuaternionfParameter r, hkQuaternionfParameter q);
/// self = r^-1 * q
HK_FORCE_INLINE void setInverseMul(hkQuaternionfParameter r, hkQuaternionfParameter q);
HK_FORCE_INLINE void setInverse(hkQuaternionfParameter q); HK_FORCE_INLINE void setInverse(hkQuaternionfParameter q);
@ -103,6 +109,28 @@ inline void hkQuaternionf::setMul(hkQuaternionfParameter r, hkQuaternionfParamet
m_vec.setXYZ_W(vec, (rReal * qReal) - rImag.dot<3>(qImag)); m_vec.setXYZ_W(vec, (rReal * qReal) - rImag.dot<3>(qImag));
} }
inline void hkQuaternionf::setMulInverse(hkQuaternionfParameter r, hkQuaternionfParameter q) {
const auto rImag = r.getImag();
const auto qImag = q.getImag();
hkVector4f vec;
vec.setCross(qImag, rImag);
vec.subMul(r.getRealPart(), qImag);
vec.addMul(q.getRealPart(), rImag);
m_vec.setXYZ_W(vec, rImag.dot<4>(qImag));
}
inline void hkQuaternionf::setInverseMul(hkQuaternionfParameter r, hkQuaternionfParameter q) {
const auto rImag = r.getImag();
const auto qImag = q.getImag();
hkVector4f vec;
vec.setCross(qImag, rImag);
vec.addMul(r.getRealPart(), qImag);
vec.subMul(q.getRealPart(), rImag);
m_vec.setXYZ_W(vec, rImag.dot<4>(qImag));
}
inline void hkQuaternionf::setInverse(const hkQuaternionf& q) { inline void hkQuaternionf::setInverse(const hkQuaternionf& q) {
m_vec.setNeg<3>(q.getImag()); m_vec.setNeg<3>(q.getImag());
} }