API changes to the quaternion class. Some methods now return the quaternion by...

API changes to the quaternion class. Some methods now return the quaternion by reference in order to chain operations. Renamed getDotProduct to dotProduct to follow the vector class.

git-svn-id: svn://svn.code.sf.net/p/irrlicht/code/trunk@1291 dfc29bdd-3216-0410-991c-e03cc46cb475

include/quaternion.h

@@ -63,16 +63,16 @@ class quaternion
 		quaternion& operator*=(const quaternion& other);
 
 		//! calculates the dot product
-		inline f32 getDotProduct(const quaternion& other) const;
+		inline f32 dotProduct(const quaternion& other) const;
 
 		//! sets new quaternion
-		inline void set(f32 x, f32 y, f32 z, f32 w);
+		inline quaternion& set(f32 x, f32 y, f32 z, f32 w);
 
 		//! sets new quaternion based on euler angles (radians)
-		inline void set(f32 x, f32 y, f32 z);
+		inline quaternion& set(f32 x, f32 y, f32 z);
 
 		//! sets new quaternion based on euler angles (radians)
-		inline void set(const core::vector3df& vec);
+		inline quaternion& set(const core::vector3df& vec);
 
 		//! normalizes the quaternion
 		inline quaternion& normalize();
@@ -87,7 +87,7 @@ class quaternion
 		void getMatrix_transposed( matrix4 &dest ) const;
 
 		//! Inverts this quaternion
-		void makeInverse();
+		quaternion& makeInverse();
 
 		//! set this quaternion to the result of the interpolation between two quaternions
 		void slerp( quaternion q1, quaternion q2, f32 interpolate );
@@ -105,10 +105,10 @@ class quaternion
 		void toEuler(vector3df& euler) const;
 
 		//! set quaternion to identity
-		void makeIdentity();
+		quaternion& makeIdentity();
 
 		//! sets quaternion to represent a rotation from one angle to another
-		void rotationFromTo(const vector3df& from, const vector3df& to);
+		quaternion& quaternion::rotationFromTo(const vector3df& from, const vector3df& to);
 
 		f32 X, Y, Z, W;
 };
@@ -218,8 +218,7 @@ inline quaternion& quaternion::operator=(const matrix4& m)
 		}
 	}
 
-	normalize();
-	return *this;
+	return normalize();
 }
 
 
@@ -268,27 +267,7 @@ inline quaternion quaternion::operator+(const quaternion& b) const
 inline matrix4 quaternion::getMatrix() const
 {
 	core::matrix4 m;
-
-	m(0,0) = 1.0f - 2.0f*Y*Y - 2.0f*Z*Z;
-	m(1,0) = 2.0f*X*Y + 2.0f*Z*W;
-	m(2,0) = 2.0f*X*Z - 2.0f*Y*W;
-	m(3,0) = 0.0f;
-
-	m(0,1) = 2.0f*X*Y - 2.0f*Z*W;
-	m(1,1) = 1.0f - 2.0f*X*X - 2.0f*Z*Z;
-	m(2,1) = 2.0f*Z*Y + 2.0f*X*W;
-	m(3,1) = 0.0f;
-
-	m(0,2) = 2.0f*X*Z + 2.0f*Y*W;
-	m(1,2) = 2.0f*Z*Y - 2.0f*X*W;
-	m(2,2) = 1.0f - 2.0f*X*X - 2.0f*Y*Y;
-	m(3,2) = 0.0f;
-
-	m(0,3) = 0.0f;
-	m(1,3) = 0.0f;
-	m(2,3) = 0.0f;
-	m(3,3) = 1.0f;
-
+	getMatrix(m);
 	return m;
 }
 
@@ -344,23 +323,25 @@ inline void quaternion::getMatrix_transposed( matrix4 &dest ) const
 
 
 //! Inverts this quaternion
-inline void quaternion::makeInverse()
+inline quaternion& quaternion::makeInverse()
 {
 	X = -X; Y = -Y; Z = -Z;
+	return *this;
 }
 
 //! sets new quaternion
-inline void quaternion::set(f32 x, f32 y, f32 z, f32 w)
+inline quaternion& quaternion::set(f32 x, f32 y, f32 z, f32 w)
 {
 	X = x;
 	Y = y;
 	Z = z;
 	W = w;
+	return *this;
 }
 
 
 //! sets new quaternion based on euler angles
-inline void quaternion::set(f32 x, f32 y, f32 z)
+inline quaternion& quaternion::set(f32 x, f32 y, f32 z)
 {
 	f64 angle;
 
@@ -386,13 +367,13 @@ inline void quaternion::set(f32 x, f32 y, f32 z)
 	Z = (f32)(cr * cpsy - sr * spcy);
 	W = (f32)(cr * cpcy + sr * spsy);
 
-	normalize();
+	return normalize();
 }
 
 //! sets new quaternion based on euler angles
-inline void quaternion::set(const core::vector3df& vec)
+inline quaternion& quaternion::set(const core::vector3df& vec)
 {
-	set(vec.X, vec.Y, vec.Z);
+	return set(vec.X, vec.Y, vec.Z);
 }
 
 //! normalizes the quaternion
@@ -417,7 +398,7 @@ inline quaternion& quaternion::normalize()
 // set this quaternion to the result of the interpolation between two quaternions
 inline void quaternion::slerp( quaternion q1, quaternion q2, f32 time)
 {
-	f32 angle = q1.getDotProduct(q2);
+	f32 angle = q1.dotProduct(q2);
 
 	if (angle < 0.0f)
 	{
@@ -455,7 +436,7 @@ inline void quaternion::slerp( quaternion q1, quaternion q2, f32 time)
 
 
 //! calculates the dot product
-inline f32 quaternion::getDotProduct(const quaternion& q2) const
+inline f32 quaternion::dotProduct(const quaternion& q2) const
 {
 	return (X * q2.X) + (Y * q2.Y) + (Z * q2.Z) + (W * q2.W);
 }
@@ -463,9 +444,9 @@ inline f32 quaternion::getDotProduct(const quaternion& q2) const
 
 inline void quaternion::fromAngleAxis(f32 angle, const vector3df& axis)
 {
-	f32 fHalfAngle = 0.5f*angle;
-	f32 fSin = (f32)sin(fHalfAngle);
-	W = (f32)cos(fHalfAngle);
+	const f32 fHalfAngle = 0.5f*angle;
+	const f32 fSin = sinf(fHalfAngle);
+	W = cosf(fHalfAngle);
 	X = fSin*axis.X;
 	Y = fSin*axis.Y;
 	Z = fSin*axis.Z;
@@ -523,16 +504,17 @@ inline vector3df quaternion::operator* (const vector3df& v) const
 	return v + uv + uuv;
 }
 
-//! set quaterion to identity
-inline void quaternion::makeIdentity()
+//! set quaternion to identity
+inline core::quaternion& quaternion::makeIdentity()
 {
 	W = 1.f;
 	X = 0.f;
 	Y = 0.f;
 	Z = 0.f;
+	return *this;
 }
 
-inline void quaternion::rotationFromTo(const vector3df& from, const vector3df& to)
+inline core::quaternion& quaternion::rotationFromTo(const vector3df& from, const vector3df& to)
 {
 	// Based on Stan Melax's article in Game Programming Gems
 	// Copy, since cannot modify local
@@ -546,7 +528,7 @@ inline void quaternion::rotationFromTo(const vector3df& from, const vector3df& t
 	f32 d = v0.dotProduct(v1);
 	if (d >= 1.0f) // If dot == 1, vectors are the same
 	{
-		*this=quaternion(0,0,0,1); //IDENTITY;
+		return (*this=quaternion(0,0,0,1)); //IDENTITY;
 	}
 	f32 s = sqrtf( (1+d)*2 ); // optimize inv_sqrt
 	f32 invs = 1 / s;
@@ -555,6 +537,8 @@ inline void quaternion::rotationFromTo(const vector3df& from, const vector3df& t
 	Y = c.Y * invs;
 	Z = c.Z * invs;
 	W = s * 0.5f;
+
+	return *this;
 }