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Add missing const qualifiers to some quaternion methods

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This commit is contained in:
Oleg Kalachev 2025-01-09 10:02:53 +03:00
parent ca032abc03
commit ca409396c7
1 changed files with 6 additions and 6 deletions
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12
flix/quaternion.h
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@ -60,7 +60,7 @@ public:
return ret; return ret;
} }
void toAxisAngle(float& a, float& b, float& c, float& angle) { void toAxisAngle(float& a, float& b, float& c, float& angle) const {
angle = acos(w) * 2; angle = acos(w) * 2;
a = x / sin(angle / 2); a = x / sin(angle / 2);
b = y / sin(angle / 2); b = y / sin(angle / 2);
@ -126,7 +126,7 @@ public:
return (*this = ret); return (*this = ret);
} }
Quaternion operator * (const Quaternion& q) { Quaternion operator * (const Quaternion& q) const {
return Quaternion( return Quaternion(
w * q.w - x * q.x - y * q.y - z * q.z, w * q.w - x * q.x - y * q.y - z * q.z,
w * q.x + x * q.w + y * q.z - z * q.y, w * q.x + x * q.w + y * q.z - z * q.y,
@ -155,25 +155,25 @@ public:
z /= n; z /= n;
} }
Vector conjugate(const Vector& v) { Vector conjugate(const Vector& v) const {
Quaternion qv(0, v.x, v.y, v.z); Quaternion qv(0, v.x, v.y, v.z);
Quaternion res = (*this) * qv * inversed(); Quaternion res = (*this) * qv * inversed();
return Vector(res.x, res.y, res.z); return Vector(res.x, res.y, res.z);
} }
Vector conjugateInversed(const Vector& v) { Vector conjugateInversed(const Vector& v) const {
Quaternion qv(0, v.x, v.y, v.z); Quaternion qv(0, v.x, v.y, v.z);
Quaternion res = inversed() * qv * (*this); Quaternion res = inversed() * qv * (*this);
return Vector(res.x, res.y, res.z); return Vector(res.x, res.y, res.z);
} }
// Rotate vector by quaternion // Rotate vector by quaternion
Vector rotateVector(const Vector& v) { Vector rotateVector(const Vector& v) const {
return conjugateInversed(v); return conjugateInversed(v);
} }
// Rotate quaternion by quaternion // Rotate quaternion by quaternion
Quaternion rotate(const Quaternion& q, const bool normalize = true) { Quaternion rotate(const Quaternion& q, const bool normalize = true) const {
Quaternion rotated = (*this) * q; Quaternion rotated = (*this) * q;
if (normalize) { if (normalize) {
rotated.normalize(); rotated.normalize();