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Match Vector4::NormalizeQuaternion

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This commit is contained in:
Christian Semmler 2024-12-25 13:59:13 -07:00
parent 9263cf810f
commit d5a6a84553
2 changed files with 19 additions and 18 deletions
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3
LEGO1/library_msvc.h
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@ -675,6 +675,9 @@
// LIBRARY: BETA10 0x100f9a50 // LIBRARY: BETA10 0x100f9a50
// _sin // _sin
// LIBRARY: BETA10 0x100f9a5a
// _cos
// LIBRARY: BETA10 0x100f95d0 // LIBRARY: BETA10 0x100f95d0
// _sqrt // _sqrt

34
LEGO1/realtime/vector.h
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@ -467,38 +467,36 @@ class Vector4 : public Vector3 {
// FUNCTION: BETA10 0x10048ad0 // FUNCTION: BETA10 0x10048ad0
inline int Vector4::NormalizeQuaternion() inline int Vector4::NormalizeQuaternion()
{ {
float* v = m_data; float length = m_data[0] * m_data[0] + m_data[1] * m_data[1] + m_data[2] * m_data[2];
float magnitude = v[0] * v[0] + v[2] * v[2] + v[1] * v[1];
if (magnitude > 0.0f) { if (length > 0.0f) {
float theta = v[3] * 0.5f; float theta = m_data[3] * 0.5f;
v[3] = cos(theta); float magnitude = sin((double) theta);
magnitude = sin(theta) / sqrt(magnitude); m_data[3] = cos((double) theta);
Vector3::MulImpl(magnitude);
magnitude = magnitude / (float) sqrt((double) length);
m_data[0] *= magnitude;
m_data[1] *= magnitude;
m_data[2] *= magnitude;
return 0; return 0;
} }
else {
return -1; return -1;
} }
inline static float QuaternionProductScalarPart(const float* bDat, const float* aDat)
{
// We have no indication from the beta that this function exists,
// but it helps with the stack layout of Vector4::EqualsHamiltonProduct()
return aDat[3] * bDat[3] - (aDat[0] * bDat[0] + aDat[2] * bDat[2] + aDat[1] * bDat[1]);
} }
// FUNCTION: LEGO1 0x10002bf0 // FUNCTION: LEGO1 0x10002bf0
// FUNCTION: BETA10 0x10048c20 // FUNCTION: BETA10 0x10048c20
inline int Vector4::EqualsHamiltonProduct(const Vector4& p_a, const Vector4& p_b) inline int Vector4::EqualsHamiltonProduct(const Vector4& p_a, const Vector4& p_b)
{ {
m_data[3] = QuaternionProductScalarPart(p_a.m_data, p_b.m_data); m_data[3] = p_a.m_data[3] * p_b.m_data[3] -
(p_a.m_data[0] * p_b.m_data[0] + p_a.m_data[2] * p_b.m_data[2] + p_a.m_data[1] * p_b.m_data[1]);
Vector3::EqualsCrossImpl(p_a.m_data, p_b.m_data); Vector3::EqualsCrossImpl(p_a.m_data, p_b.m_data);
m_data[0] = p_b.m_data[3] * p_a.m_data[0] + p_a.m_data[3] * p_b.m_data[0] + m_data[0]; m_data[0] = p_b.m_data[3] * p_a.m_data[0] + p_a.m_data[3] * p_b.m_data[0] + m_data[0];
m_data[1] = p_b.m_data[1] * p_a.m_data[3] + p_a.m_data[1] * p_b.m_data[3] + m_data[1]; m_data[1] = p_b.m_data[1] * p_a.m_data[3] + p_a.m_data[1] * p_b.m_data[3] + m_data[1];
m_data[2] = p_b.m_data[2] * p_a.m_data[3] + p_a.m_data[2] * p_b.m_data[3] + m_data[2]; m_data[2] = p_b.m_data[2] * p_a.m_data[3] + p_a.m_data[2] * p_b.m_data[3] + m_data[2];
return 0; return 0;
} }