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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;
}
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;
a = x / sin(angle / 2);
b = y / sin(angle / 2);
@ -126,7 +126,7 @@ public:
return (*this = ret);
}
Quaternion operator * (const Quaternion& q) {
Quaternion operator * (const Quaternion& q) const {
return Quaternion(
w * q.w - x * q.x - y * q.y - z * q.z,
w * q.x + x * q.w + y * q.z - z * q.y,
@ -155,25 +155,25 @@ public:
z /= n;
}
Vector conjugate(const Vector& v) {
Vector conjugate(const Vector& v) const {
Quaternion qv(0, v.x, v.y, v.z);
Quaternion res = (*this) * qv * inversed();
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 res = inversed() * qv * (*this);
return Vector(res.x, res.y, res.z);
}
// Rotate vector by quaternion
Vector rotateVector(const Vector& v) {
Vector rotateVector(const Vector& v) const {
return conjugateInversed(v);
}
// 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;
if (normalize) {
rotated.normalize();