Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -25,409 +25,407 @@ subject to the following restrictions:
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#endif
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namespace Vectormath {
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namespace Aos {
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inline Quat::Quat( const Quat & quat )
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namespace Vectormath
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{
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mX = quat.mX;
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mY = quat.mY;
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mZ = quat.mZ;
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mW = quat.mW;
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namespace Aos
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{
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inline Quat::Quat(const Quat &quat)
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{
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mX = quat.mX;
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mY = quat.mY;
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mZ = quat.mZ;
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mW = quat.mW;
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}
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inline Quat::Quat( float _x, float _y, float _z, float _w )
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inline Quat::Quat(float _x, float _y, float _z, float _w)
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{
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mX = _x;
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mY = _y;
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mZ = _z;
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mW = _w;
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mX = _x;
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mY = _y;
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mZ = _z;
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mW = _w;
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}
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inline Quat::Quat( const Vector3 & xyz, float _w )
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inline Quat::Quat(const Vector3 &xyz, float _w)
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{
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this->setXYZ( xyz );
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this->setW( _w );
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this->setXYZ(xyz);
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this->setW(_w);
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}
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inline Quat::Quat( const Vector4 & vec )
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inline Quat::Quat(const Vector4 &vec)
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{
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mX = vec.getX();
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mY = vec.getY();
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mZ = vec.getZ();
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mW = vec.getW();
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mX = vec.getX();
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mY = vec.getY();
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mZ = vec.getZ();
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mW = vec.getW();
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}
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inline Quat::Quat( float scalar )
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inline Quat::Quat(float scalar)
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{
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mX = scalar;
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mY = scalar;
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mZ = scalar;
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mW = scalar;
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mX = scalar;
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mY = scalar;
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mZ = scalar;
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mW = scalar;
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}
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inline const Quat Quat::identity( )
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inline const Quat Quat::identity()
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{
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return Quat( 0.0f, 0.0f, 0.0f, 1.0f );
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return Quat(0.0f, 0.0f, 0.0f, 1.0f);
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}
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inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 )
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inline const Quat lerp(float t, const Quat &quat0, const Quat &quat1)
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{
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return ( quat0 + ( ( quat1 - quat0 ) * t ) );
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return (quat0 + ((quat1 - quat0) * t));
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}
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inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 )
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inline const Quat slerp(float t, const Quat &unitQuat0, const Quat &unitQuat1)
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{
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Quat start;
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float recipSinAngle, scale0, scale1, cosAngle, angle;
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cosAngle = dot( unitQuat0, unitQuat1 );
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if ( cosAngle < 0.0f ) {
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cosAngle = -cosAngle;
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start = ( -unitQuat0 );
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} else {
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start = unitQuat0;
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}
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if ( cosAngle < _VECTORMATH_SLERP_TOL ) {
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angle = acosf( cosAngle );
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recipSinAngle = ( 1.0f / sinf( angle ) );
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scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle );
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scale1 = ( sinf( ( t * angle ) ) * recipSinAngle );
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} else {
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scale0 = ( 1.0f - t );
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scale1 = t;
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}
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return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) );
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Quat start;
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float recipSinAngle, scale0, scale1, cosAngle, angle;
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cosAngle = dot(unitQuat0, unitQuat1);
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if (cosAngle < 0.0f)
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{
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cosAngle = -cosAngle;
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start = (-unitQuat0);
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}
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else
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{
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start = unitQuat0;
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}
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if (cosAngle < _VECTORMATH_SLERP_TOL)
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{
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angle = acosf(cosAngle);
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recipSinAngle = (1.0f / sinf(angle));
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scale0 = (sinf(((1.0f - t) * angle)) * recipSinAngle);
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scale1 = (sinf((t * angle)) * recipSinAngle);
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}
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else
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{
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scale0 = (1.0f - t);
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scale1 = t;
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}
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return ((start * scale0) + (unitQuat1 * scale1));
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}
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inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 )
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inline const Quat squad(float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3)
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{
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Quat tmp0, tmp1;
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tmp0 = slerp( t, unitQuat0, unitQuat3 );
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tmp1 = slerp( t, unitQuat1, unitQuat2 );
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return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 );
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Quat tmp0, tmp1;
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tmp0 = slerp(t, unitQuat0, unitQuat3);
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tmp1 = slerp(t, unitQuat1, unitQuat2);
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return slerp(((2.0f * t) * (1.0f - t)), tmp0, tmp1);
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}
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inline void loadXYZW( Quat & quat, const float * fptr )
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inline void loadXYZW(Quat &quat, const float *fptr)
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{
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quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] );
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quat = Quat(fptr[0], fptr[1], fptr[2], fptr[3]);
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}
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inline void storeXYZW( const Quat & quat, float * fptr )
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inline void storeXYZW(const Quat &quat, float *fptr)
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{
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fptr[0] = quat.getX();
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fptr[1] = quat.getY();
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fptr[2] = quat.getZ();
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fptr[3] = quat.getW();
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fptr[0] = quat.getX();
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fptr[1] = quat.getY();
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fptr[2] = quat.getZ();
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fptr[3] = quat.getW();
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}
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inline Quat & Quat::operator =( const Quat & quat )
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inline Quat &Quat::operator=(const Quat &quat)
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{
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mX = quat.mX;
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mY = quat.mY;
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mZ = quat.mZ;
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mW = quat.mW;
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return *this;
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mX = quat.mX;
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mY = quat.mY;
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mZ = quat.mZ;
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mW = quat.mW;
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return *this;
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}
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inline Quat & Quat::setXYZ( const Vector3 & vec )
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inline Quat &Quat::setXYZ(const Vector3 &vec)
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{
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mX = vec.getX();
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mY = vec.getY();
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mZ = vec.getZ();
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return *this;
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mX = vec.getX();
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mY = vec.getY();
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mZ = vec.getZ();
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return *this;
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}
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inline const Vector3 Quat::getXYZ( ) const
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inline const Vector3 Quat::getXYZ() const
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{
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return Vector3( mX, mY, mZ );
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return Vector3(mX, mY, mZ);
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}
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inline Quat & Quat::setX( float _x )
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inline Quat &Quat::setX(float _x)
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{
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mX = _x;
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return *this;
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mX = _x;
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return *this;
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}
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inline float Quat::getX( ) const
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inline float Quat::getX() const
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{
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return mX;
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return mX;
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}
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inline Quat & Quat::setY( float _y )
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inline Quat &Quat::setY(float _y)
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{
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mY = _y;
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return *this;
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mY = _y;
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return *this;
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}
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inline float Quat::getY( ) const
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inline float Quat::getY() const
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{
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return mY;
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return mY;
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}
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inline Quat & Quat::setZ( float _z )
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inline Quat &Quat::setZ(float _z)
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{
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mZ = _z;
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return *this;
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mZ = _z;
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return *this;
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}
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inline float Quat::getZ( ) const
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inline float Quat::getZ() const
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{
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return mZ;
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return mZ;
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}
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inline Quat & Quat::setW( float _w )
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inline Quat &Quat::setW(float _w)
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{
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mW = _w;
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return *this;
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mW = _w;
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return *this;
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}
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inline float Quat::getW( ) const
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inline float Quat::getW() const
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{
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return mW;
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return mW;
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}
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inline Quat & Quat::setElem( int idx, float value )
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inline Quat &Quat::setElem(int idx, float value)
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{
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*(&mX + idx) = value;
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return *this;
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*(&mX + idx) = value;
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return *this;
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}
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inline float Quat::getElem( int idx ) const
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inline float Quat::getElem(int idx) const
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{
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return *(&mX + idx);
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return *(&mX + idx);
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}
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inline float & Quat::operator []( int idx )
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inline float &Quat::operator[](int idx)
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{
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return *(&mX + idx);
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return *(&mX + idx);
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}
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inline float Quat::operator []( int idx ) const
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inline float Quat::operator[](int idx) const
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{
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return *(&mX + idx);
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return *(&mX + idx);
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}
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inline const Quat Quat::operator +( const Quat & quat ) const
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inline const Quat Quat::operator+(const Quat &quat) const
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{
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return Quat(
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( mX + quat.mX ),
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( mY + quat.mY ),
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( mZ + quat.mZ ),
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( mW + quat.mW )
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);
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return Quat(
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(mX + quat.mX),
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(mY + quat.mY),
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(mZ + quat.mZ),
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(mW + quat.mW));
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}
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inline const Quat Quat::operator -( const Quat & quat ) const
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inline const Quat Quat::operator-(const Quat &quat) const
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{
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return Quat(
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( mX - quat.mX ),
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( mY - quat.mY ),
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( mZ - quat.mZ ),
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( mW - quat.mW )
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);
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return Quat(
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(mX - quat.mX),
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(mY - quat.mY),
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(mZ - quat.mZ),
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(mW - quat.mW));
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}
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inline const Quat Quat::operator *( float scalar ) const
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inline const Quat Quat::operator*(float scalar) const
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{
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return Quat(
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( mX * scalar ),
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( mY * scalar ),
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( mZ * scalar ),
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( mW * scalar )
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);
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return Quat(
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(mX * scalar),
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(mY * scalar),
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(mZ * scalar),
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(mW * scalar));
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}
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inline Quat & Quat::operator +=( const Quat & quat )
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inline Quat &Quat::operator+=(const Quat &quat)
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{
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*this = *this + quat;
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return *this;
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*this = *this + quat;
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return *this;
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}
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inline Quat & Quat::operator -=( const Quat & quat )
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inline Quat &Quat::operator-=(const Quat &quat)
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{
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*this = *this - quat;
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return *this;
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*this = *this - quat;
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return *this;
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}
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inline Quat & Quat::operator *=( float scalar )
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inline Quat &Quat::operator*=(float scalar)
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{
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*this = *this * scalar;
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return *this;
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*this = *this * scalar;
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return *this;
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}
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inline const Quat Quat::operator /( float scalar ) const
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inline const Quat Quat::operator/(float scalar) const
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{
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return Quat(
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( mX / scalar ),
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( mY / scalar ),
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( mZ / scalar ),
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( mW / scalar )
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);
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return Quat(
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(mX / scalar),
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(mY / scalar),
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(mZ / scalar),
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(mW / scalar));
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}
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inline Quat & Quat::operator /=( float scalar )
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inline Quat &Quat::operator/=(float scalar)
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{
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*this = *this / scalar;
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return *this;
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*this = *this / scalar;
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return *this;
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}
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inline const Quat Quat::operator -( ) const
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inline const Quat Quat::operator-() const
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{
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return Quat(
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-mX,
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-mY,
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-mZ,
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-mW
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);
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return Quat(
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-mX,
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-mY,
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-mZ,
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-mW);
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}
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inline const Quat operator *( float scalar, const Quat & quat )
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inline const Quat operator*(float scalar, const Quat &quat)
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{
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return quat * scalar;
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return quat * scalar;
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}
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inline float dot( const Quat & quat0, const Quat & quat1 )
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inline float dot(const Quat &quat0, const Quat &quat1)
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{
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float result;
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result = ( quat0.getX() * quat1.getX() );
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result = ( result + ( quat0.getY() * quat1.getY() ) );
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result = ( result + ( quat0.getZ() * quat1.getZ() ) );
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result = ( result + ( quat0.getW() * quat1.getW() ) );
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return result;
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float result;
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result = (quat0.getX() * quat1.getX());
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result = (result + (quat0.getY() * quat1.getY()));
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result = (result + (quat0.getZ() * quat1.getZ()));
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result = (result + (quat0.getW() * quat1.getW()));
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return result;
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}
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inline float norm( const Quat & quat )
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inline float norm(const Quat &quat)
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{
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float result;
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result = ( quat.getX() * quat.getX() );
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result = ( result + ( quat.getY() * quat.getY() ) );
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result = ( result + ( quat.getZ() * quat.getZ() ) );
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result = ( result + ( quat.getW() * quat.getW() ) );
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return result;
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float result;
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result = (quat.getX() * quat.getX());
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result = (result + (quat.getY() * quat.getY()));
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result = (result + (quat.getZ() * quat.getZ()));
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result = (result + (quat.getW() * quat.getW()));
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return result;
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}
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inline float length( const Quat & quat )
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inline float length(const Quat &quat)
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{
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return ::sqrtf( norm( quat ) );
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return ::sqrtf(norm(quat));
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}
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inline const Quat normalize( const Quat & quat )
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inline const Quat normalize(const Quat &quat)
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{
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float lenSqr, lenInv;
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lenSqr = norm( quat );
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||||
lenInv = ( 1.0f / sqrtf( lenSqr ) );
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return Quat(
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( quat.getX() * lenInv ),
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( quat.getY() * lenInv ),
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||||
( quat.getZ() * lenInv ),
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||||
( quat.getW() * lenInv )
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||||
);
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float lenSqr, lenInv;
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||||
lenSqr = norm(quat);
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||||
lenInv = (1.0f / sqrtf(lenSqr));
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return Quat(
|
||||
(quat.getX() * lenInv),
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||||
(quat.getY() * lenInv),
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(quat.getZ() * lenInv),
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||||
(quat.getW() * lenInv));
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}
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inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 )
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||||
inline const Quat Quat::rotation(const Vector3 &unitVec0, const Vector3 &unitVec1)
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||||
{
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||||
float cosHalfAngleX2, recipCosHalfAngleX2;
|
||||
cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) );
|
||||
recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 );
|
||||
return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) );
|
||||
float cosHalfAngleX2, recipCosHalfAngleX2;
|
||||
cosHalfAngleX2 = sqrtf((2.0f * (1.0f + dot(unitVec0, unitVec1))));
|
||||
recipCosHalfAngleX2 = (1.0f / cosHalfAngleX2);
|
||||
return Quat((cross(unitVec0, unitVec1) * recipCosHalfAngleX2), (cosHalfAngleX2 * 0.5f));
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( float radians, const Vector3 & unitVec )
|
||||
inline const Quat Quat::rotation(float radians, const Vector3 &unitVec)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat( ( unitVec * s ), c );
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat((unitVec * s), c);
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationX( float radians )
|
||||
inline const Quat Quat::rotationX(float radians)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat( s, 0.0f, 0.0f, c );
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat(s, 0.0f, 0.0f, c);
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationY( float radians )
|
||||
inline const Quat Quat::rotationY(float radians)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat( 0.0f, s, 0.0f, c );
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat(0.0f, s, 0.0f, c);
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationZ( float radians )
|
||||
inline const Quat Quat::rotationZ(float radians)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat( 0.0f, 0.0f, s, c );
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat(0.0f, 0.0f, s, c);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( const Quat & quat ) const
|
||||
inline const Quat Quat::operator*(const Quat &quat) const
|
||||
{
|
||||
return Quat(
|
||||
( ( ( ( mW * quat.mX ) + ( mX * quat.mW ) ) + ( mY * quat.mZ ) ) - ( mZ * quat.mY ) ),
|
||||
( ( ( ( mW * quat.mY ) + ( mY * quat.mW ) ) + ( mZ * quat.mX ) ) - ( mX * quat.mZ ) ),
|
||||
( ( ( ( mW * quat.mZ ) + ( mZ * quat.mW ) ) + ( mX * quat.mY ) ) - ( mY * quat.mX ) ),
|
||||
( ( ( ( mW * quat.mW ) - ( mX * quat.mX ) ) - ( mY * quat.mY ) ) - ( mZ * quat.mZ ) )
|
||||
);
|
||||
return Quat(
|
||||
((((mW * quat.mX) + (mX * quat.mW)) + (mY * quat.mZ)) - (mZ * quat.mY)),
|
||||
((((mW * quat.mY) + (mY * quat.mW)) + (mZ * quat.mX)) - (mX * quat.mZ)),
|
||||
((((mW * quat.mZ) + (mZ * quat.mW)) + (mX * quat.mY)) - (mY * quat.mX)),
|
||||
((((mW * quat.mW) - (mX * quat.mX)) - (mY * quat.mY)) - (mZ * quat.mZ)));
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( const Quat & quat )
|
||||
inline Quat &Quat::operator*=(const Quat &quat)
|
||||
{
|
||||
*this = *this * quat;
|
||||
return *this;
|
||||
*this = *this * quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 rotate( const Quat & quat, const Vector3 & vec )
|
||||
inline const Vector3 rotate(const Quat &quat, const Vector3 &vec)
|
||||
{
|
||||
float tmpX, tmpY, tmpZ, tmpW;
|
||||
tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) );
|
||||
tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) );
|
||||
tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) );
|
||||
tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) );
|
||||
return Vector3(
|
||||
( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ),
|
||||
( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ),
|
||||
( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) )
|
||||
);
|
||||
float tmpX, tmpY, tmpZ, tmpW;
|
||||
tmpX = (((quat.getW() * vec.getX()) + (quat.getY() * vec.getZ())) - (quat.getZ() * vec.getY()));
|
||||
tmpY = (((quat.getW() * vec.getY()) + (quat.getZ() * vec.getX())) - (quat.getX() * vec.getZ()));
|
||||
tmpZ = (((quat.getW() * vec.getZ()) + (quat.getX() * vec.getY())) - (quat.getY() * vec.getX()));
|
||||
tmpW = (((quat.getX() * vec.getX()) + (quat.getY() * vec.getY())) + (quat.getZ() * vec.getZ()));
|
||||
return Vector3(
|
||||
((((tmpW * quat.getX()) + (tmpX * quat.getW())) - (tmpY * quat.getZ())) + (tmpZ * quat.getY())),
|
||||
((((tmpW * quat.getY()) + (tmpY * quat.getW())) - (tmpZ * quat.getX())) + (tmpX * quat.getZ())),
|
||||
((((tmpW * quat.getZ()) + (tmpZ * quat.getW())) - (tmpX * quat.getY())) + (tmpY * quat.getX())));
|
||||
}
|
||||
|
||||
inline const Quat conj( const Quat & quat )
|
||||
inline const Quat conj(const Quat &quat)
|
||||
{
|
||||
return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() );
|
||||
return Quat(-quat.getX(), -quat.getY(), -quat.getZ(), quat.getW());
|
||||
}
|
||||
|
||||
inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 )
|
||||
inline const Quat select(const Quat &quat0, const Quat &quat1, bool select1)
|
||||
{
|
||||
return Quat(
|
||||
( select1 )? quat1.getX() : quat0.getX(),
|
||||
( select1 )? quat1.getY() : quat0.getY(),
|
||||
( select1 )? quat1.getZ() : quat0.getZ(),
|
||||
( select1 )? quat1.getW() : quat0.getW()
|
||||
);
|
||||
return Quat(
|
||||
(select1) ? quat1.getX() : quat0.getX(),
|
||||
(select1) ? quat1.getY() : quat0.getY(),
|
||||
(select1) ? quat1.getZ() : quat0.getZ(),
|
||||
(select1) ? quat1.getW() : quat0.getW());
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_DEBUG
|
||||
|
||||
inline void print( const Quat & quat )
|
||||
inline void print(const Quat &quat)
|
||||
{
|
||||
printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
|
||||
printf("( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW());
|
||||
}
|
||||
|
||||
inline void print( const Quat & quat, const char * name )
|
||||
inline void print(const Quat &quat, const char *name)
|
||||
{
|
||||
printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
|
||||
printf("%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW());
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace Aos
|
||||
} // namespace Vectormath
|
||||
} // namespace Aos
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif
|
||||
|
||||
Reference in New Issue
Block a user