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Humungous refactor

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This commit is contained in:
Jack Andersen
2016-03-04 13:03:26 -10:00
parent cd28979d0a
commit a76d43d5df
44 changed files with 465 additions and 479 deletions
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58
src/CQuaternion.cpp
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@@ -1,17 +1,17 @@
#include "CQuaternion.hpp"
#include <math.h>
#include "zeus/CQuaternion.hpp"
#include "zeus/Math.hpp"
namespace Zeus
namespace zeus
{
void CQuaternion::fromVector3f(const CVector3f& vec)
{
float cosX = cosf(0.5 * vec.x);
float cosY = cosf(0.5 * vec.y);
float cosZ = cosf(0.5 * vec.z);
float cosX = std::cos(0.5f * vec.x);
float cosY = std::cos(0.5f * vec.y);
float cosZ = std::cos(0.5f * vec.z);
float sinX = sinf(0.5 * vec.x);
float sinY = sinf(0.5 * vec.y);
float sinZ = sinf(0.5 * vec.z);
float sinX = std::sin(0.5f * vec.x);
float sinY = std::sin(0.5f * vec.y);
float sinZ = std::sin(0.5f * vec.z);
r = cosZ * cosY * cosX + sinZ * sinY * sinX;
v.x = cosZ * cosY * sinX - sinZ * sinY * cosX;
@@ -106,7 +106,7 @@ const CQuaternion& CQuaternion::operator/=(float scale)
float CQuaternion::magnitude() const
{
return sqrt(magSquared());
return std::sqrt(magSquared());
}
float CQuaternion::magSquared() const
@@ -137,15 +137,15 @@ CQuaternion CQuaternion::inverse() const
CAxisAngle CQuaternion::toAxisAngle()
{
// CAxisAngle ret;
// ret.angle = acosf(r);
// ret.angle = std::acos(r);
// float thetaInv = 1.0f/sinf(ret.angle);
// float thetaInv = 1.0f/std::sin(ret.angle);
// ret.axis.x = v.x * thetaInv;
// ret.axis.y = v.y * thetaInv;
// ret.axis.z = v.z * thetaInv;
// ret.angle *= 2;
// ret.angle *= 2.f;
// return ret;
return CAxisAngle();
@@ -153,20 +153,20 @@ CAxisAngle CQuaternion::toAxisAngle()
CQuaternion CQuaternion::log() const
{
float a = acosf(r);
float sina = sinf(a);
float a = std::acos(r);
float sina = std::sin(a);
CQuaternion ret;
ret.r = 0;
ret.r = 0.f;
if (sina > 0)
if (sina > 0.f)
{
ret.v.x = a * v.x / sina;
ret.v.y = a * v.y / sina;
ret.v.z = a * v.z / sina;
}
else
ret.v = CVector3f(0);
ret.v = CVector3f(0.f);
return ret;
}
@@ -174,19 +174,19 @@ CQuaternion CQuaternion::log() const
CQuaternion CQuaternion::exp() const
{
float a = (v.magnitude());
float sina = sinf(a);
float cosa = cos(a);
float sina = std::sin(a);
float cosa = std::cos(a);
CQuaternion ret;
ret.r = cosa;
if (a > 0)
if (a > 0.f)
{
ret.v.x = sina * v.x / a;
ret.v.y = sina * v.y / a;
ret.v.z = sina * v.z / a;
}
else
ret.v = CVector3f(0);
ret.v = CVector3f(0.f);
return ret;
}
@@ -215,18 +215,18 @@ CQuaternion CQuaternion::slerp(CQuaternion& a, CQuaternion& b, double t)
CQuaternion ret;
float mag = sqrtf(a.dot(a) * b.dot(b));
float mag = std::sqrt(a.dot(a) * b.dot(b));
float prod = a.dot(b) / mag;
if (fabsf(prod) < 1.0)
if (std::fabs(prod) < 1.0f)
{
const double sign = (prod < 0.0) ? -1.0 : 1.0;
const double sign = (prod < 0.0f) ? -1.0f : 1.0f;
const double theta = acos(sign * prod);
const double s1 = sin (sign * t * theta);
const double d = 1.0 / sin(theta);
const double s0 = sin((1.0 - t) * theta);
const double theta = std::acos(sign * prod);
const double s1 = std::sin(sign * t * theta);
const double d = 1.0 / std::sin(theta);
const double s0 = std::sin((1.0 - t) * theta);
ret.v.x = (float)(a.v.x * s0 + b.v.x * s1) * d;
ret.v.y = (float)(a.v.y * s0 + b.v.y * s1) * d;