diff options
| -rw-r--r-- | compat/hamilton-tools.cpp | 18 | ||||
| -rw-r--r-- | compat/hamilton-tools.h | 10 |
2 files changed, 14 insertions, 14 deletions
diff --git a/compat/hamilton-tools.cpp b/compat/hamilton-tools.cpp index e18082a8..dfbb4630 100644 --- a/compat/hamilton-tools.cpp +++ b/compat/hamilton-tools.cpp @@ -1,19 +1,19 @@ #include "hamilton-tools.h" #include <cmath> -double VectorLength(const tVector v) +double VectorLength(const tVector& v) { return(sqrt(v.v[0]*v.v[0] + v.v[1]*v.v[1] + v.v[2]*v.v[2])); } double sqr(const double v) { return(v*v); } -double VectorDistance(const double v1[], const tVector v2) +double VectorDistance(const double v1[], const tVector& v2) { return(sqrt(sqr(v2.v[0]-v1[0])+sqr(v2.v[1]-v1[1])+sqr(v2.v[2]-v1[2]))); } -tVector Lerp(const tVector s, const double d[], const double alpha) +tVector Lerp(const tVector& s, const double d[], const double alpha) { tVector V; V.v[0] = s.v[0] + (d[0] - s.v[0]) * alpha; @@ -22,7 +22,7 @@ tVector Lerp(const tVector s, const double d[], const double alpha) return(V); } -tQuat QuatFromAngleAxe(const double angle, const tVector axe) +tQuat QuatFromAngleAxe(const double angle, const tVector& axe) { double a = TO_RAD * 0.5 * angle; double d = sin(a) / VectorLength(axe); @@ -35,7 +35,7 @@ tQuat QuatFromAngleAxe(const double angle, const tVector axe) ); } -tQuat QuatMultiply(const tQuat qL, const tQuat qR) +tQuat QuatMultiply(const tQuat& qL, const tQuat& qR) { tQuat Q; Q.x = qL.w*qR.x + qL.x*qR.w + qL.y*qR.z - qL.z*qR.y; @@ -45,7 +45,7 @@ tQuat QuatMultiply(const tQuat qL, const tQuat qR) return(Q); } -double AngleBetween(const tQuat S, const tQuat D) +double AngleBetween(const tQuat& S, const tQuat& D) { return( TO_DEG * 2*acos(fabs(S.x*D.x + S.y*D.y + S.z*D.z + S.w*D.w)) ); } @@ -61,7 +61,7 @@ tQuat QuatFromYPR(const double YPR[]) return(QuatMultiply(Qy, Q)); } -void Normalize(tQuat Q) +void Normalize(tQuat& Q) { double m = sqrt(Q.x*Q.x + Q.y*Q.y + Q.z*Q.z + Q.w*Q.w); if (m > EPSILON) @@ -75,7 +75,7 @@ void Normalize(tQuat Q) else Q = tQuat(0, 0, 0, 1); } -tQuat Slerp(const tQuat S, const tQuat D, const double alpha) +tQuat Slerp(const tQuat& S, const tQuat& D, const double alpha) { // calc cosine of half angle double cosin = S.x*D.x + S.y*D.y + S.z*D.z + S.w*D.w; @@ -117,7 +117,7 @@ tQuat Slerp(const tQuat S, const tQuat D, const double alpha) return( Q ); } -void QuatToYPR(const tQuat Q, double YPR[]) +void QuatToYPR(const tQuat& Q, double YPR[]) { const double xx = Q.x * Q.x; const double xy = Q.x * Q.y; diff --git a/compat/hamilton-tools.h b/compat/hamilton-tools.h index 6bcd7b5d..73bc882c 100644 --- a/compat/hamilton-tools.h +++ b/compat/hamilton-tools.h @@ -21,9 +21,9 @@ struct tQuat {x = X; y = Y; z = Z; w = W;} }; -double OTR_COMPAT_EXPORT VectorDistance(const double v1[], const tVector v2); -tVector OTR_COMPAT_EXPORT Lerp (const tVector s, const double d[], const double alpha); +double OTR_COMPAT_EXPORT VectorDistance(const double v1[], const tVector& v2); +tVector OTR_COMPAT_EXPORT Lerp (const tVector& s, const double d[], const double alpha); tQuat OTR_COMPAT_EXPORT QuatFromYPR (const double YPR[]); -double OTR_COMPAT_EXPORT AngleBetween (const tQuat S, const tQuat D); -tQuat OTR_COMPAT_EXPORT Slerp (const tQuat S, const tQuat D, const double alpha); -void OTR_COMPAT_EXPORT QuatToYPR (const tQuat Q, double YPR[]); +double OTR_COMPAT_EXPORT AngleBetween (const tQuat& S, const tQuat& D); +tQuat OTR_COMPAT_EXPORT Slerp (const tQuat& S, const tQuat& D, const double alpha); +void OTR_COMPAT_EXPORT QuatToYPR (const tQuat& Q, double YPR[]); |