Fix for bugs: 1788 (forces) and 1799 (python delattr on game objects)

Use Polytope collision for faster mesh intersection tests, so SOLID can actually use that qhull lib now.

2 files changed, 27 insertions, 0 deletions

diff --git a/intern/moto/include/MT_Quaternion.h b/intern/moto/include/MT_Quaternion.h
index aa2045fc56f..03b52efe600 100644
--- a/intern/moto/include/MT_Quaternion.h
+++ b/intern/moto/include/MT_Quaternion.h
@@ -95,6 +95,9 @@ public:
     void invert();
     MT_Quaternion inverse() const;
 
+    MT_Scalar angle(const MT_Quaternion& q) const;
+    MT_Quaternion slerp(const MT_Quaternion& q, const MT_Scalar& t) const;
+    
     static MT_Quaternion random();
 };
 
diff --git a/intern/moto/include/MT_Quaternion.inl b/intern/moto/include/MT_Quaternion.inl
index 225b95b78ce..8b4fbc93c41 100644
--- a/intern/moto/include/MT_Quaternion.inl
+++ b/intern/moto/include/MT_Quaternion.inl
@@ -60,3 +60,27 @@ GEN_INLINE MT_Quaternion operator*(const MT_Vector3& w, const MT_Quaternion& q)
                          -w[0] * q[0] - w[1] * q[1] - w[2] * q[2]); 
 }
 
+GEN_INLINE MT_Scalar MT_Quaternion::angle(const MT_Quaternion& q) const 
+{
+	MT_Scalar s = sqrt(length2() * q.length2());
+	assert(s != MT_Scalar(0.0));
+	return acos(dot(q) / s);
+}
+
+GEN_INLINE MT_Quaternion MT_Quaternion::slerp(const MT_Quaternion& q, const MT_Scalar& t) const
+{
+	MT_Scalar theta = angle(q);
+	if (theta != MT_Scalar(0.0))
+	{
+		MT_Scalar d = MT_Scalar(1.0) / sin(theta);
+		MT_Scalar s0 = sin((MT_Scalar(1.0) - t) * theta);
+		MT_Scalar s1 = sin(t * theta);
+		
+		return d*(*this * s0 + q * s1);
+	}
+	else
+	{
+		return *this;
+	}
+}
+