kindred/create
1
1
Fork 0
Code Issues 37 Pull Requests Actions Packages Projects 9 Releases 2 Wiki Activity

Base: modernize C++: return braced init list

Browse Source
This commit is contained in:
wmayer
2023-08-17 13:14:46 +02:00
committed by wwmayer
parent 2636e164f3
commit 2bc90e6090
24 changed files with 117 additions and 120 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
src/Base/DualQuaternion.cpp
View File

@@ -28,72 +28,72 @@
Base::DualQuat Base::operator+(Base::DualQuat a, Base::DualQuat b)
{
return DualQuat(
return {
a.x + b.x,
a.y + b.y,
a.z + b.z,
a.w + b.w
);
};
}
Base::DualQuat Base::operator-(Base::DualQuat a, Base::DualQuat b)
{
return DualQuat(
return {
a.x - b.x,
a.y - b.y,
a.z - b.z,
a.w - b.w
);
};
}
Base::DualQuat Base::operator*(Base::DualQuat a, Base::DualQuat b)
{
return DualQuat(
return {
a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y,
a.w * b.y + a.y * b.w + a.z * b.x - a.x * b.z,
a.w * b.z + a.z * b.w + a.x * b.y - a.y * b.x,
a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z
);
};
}
Base::DualQuat Base::operator*(Base::DualQuat a, double b)
{
return DualQuat(
return {
a.x * b,
a.y * b,
a.z * b,
a.w * b
);
};
}
Base::DualQuat Base::operator*(double a, Base::DualQuat b)
{
return DualQuat(
return {
b.x * a,
b.y * a,
b.z * a,
b.w * a
);
};
}
Base::DualQuat Base::operator*(Base::DualQuat a, Base::DualNumber b)
{
return DualQuat(
return {
a.x * b,
a.y * b,
a.z * b,
a.w * b
);
};
}
Base::DualQuat Base::operator*(Base::DualNumber a, Base::DualQuat b)
{
return DualQuat(
return {
b.x * a,
b.y * a,
b.z * a,
b.w * a
);
};
}
Base::DualQuat::DualQuat(Base::DualQuat re, Base::DualQuat du)
@@ -136,7 +136,7 @@ Base::DualQuat Base::DualQuat::pow(double t, bool shorten) const
double le = this->vec().length();
if (le < 1e-12) {
//special case of no rotation. Interpolate position
return DualQuat(this->real(), this->dual()*t);
return {this->real(), this->dual()*t};
}
double normmult = 1.0/le;
@@ -159,8 +159,8 @@ Base::DualQuat Base::DualQuat::pow(double t, bool shorten) const
pitch *= t;
//back to quaternion
return DualQuat(
return {
l * sin(theta/2) + DualQuat(0,0,0,cos(theta/2)),
m * sin(theta/2) + pitch / 2 * cos(theta/2) * l + DualQuat(0,0,0,-pitch/2*sin(theta/2))
);
};
}