diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btQuaternion.h')
| -rw-r--r-- | extern/bullet2/src/LinearMath/btQuaternion.h | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h index 50334970ba6..264751b33e7 100644 --- a/extern/bullet2/src/LinearMath/btQuaternion.h +++ b/extern/bullet2/src/LinearMath/btQuaternion.h @@ -19,6 +19,7 @@ subject to the following restrictions: #include "btVector3.h" +///The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. class btQuaternion : public btQuadWord { public: btQuaternion() {} @@ -158,7 +159,7 @@ public: btQuaternion inverse() const { - return btQuaternion(m_x, m_y, m_z, -m_unusedW); + return btQuaternion(-m_x, -m_y, -m_z, m_unusedW); } SIMD_FORCE_INLINE btQuaternion @@ -285,7 +286,7 @@ slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t) } SIMD_FORCE_INLINE btVector3 -quatRotate(btQuaternion& rotation, btVector3& v) +quatRotate(const btQuaternion& rotation, const btVector3& v) { btQuaternion q = rotation * v; q *= rotation.inverse(); @@ -293,7 +294,7 @@ quatRotate(btQuaternion& rotation, btVector3& v) } SIMD_FORCE_INLINE btQuaternion -shortestArcQuat(btVector3& v0,btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized +shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized { btVector3 c = v0.cross(v1); btScalar d = v0.dot(v1); @@ -308,7 +309,7 @@ shortestArcQuat(btVector3& v0,btVector3& v1) // Game Programming Gems 2.10. make } SIMD_FORCE_INLINE btQuaternion -shortestArcQuatNormalize(btVector3& v0,btVector3& v1) +shortestArcQuatNormalize2(btVector3& v0,btVector3& v1) { v0.normalize(); v1.normalize(); @@ -319,3 +320,4 @@ shortestArcQuatNormalize(btVector3& v0,btVector3& v1) + |