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Made a fix to CQuaternion::Slerp to fix animation jitteriness

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This commit is contained in:
parax0 2016-05-01 05:02:36 -06:00
parent cf84f9909a
commit 07609cfa14
2 changed files with 20 additions and 1 deletions
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19
src/Math/CQuaternion.cpp
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@ -43,6 +43,12 @@ CVector3f CQuaternion::ZAxis() const
return (*this * CVector3f::skUnitZ); return (*this * CVector3f::skUnitZ);
} }
CQuaternion CQuaternion::Normalized() const
{
float Norm = Math::Sqrt( (W * W) + (X * X) + (Y * Y) + (Z * Z) );
return CQuaternion(W/Norm, X/Norm, Y/Norm, Z/Norm);
}
CQuaternion CQuaternion::Inverse() const CQuaternion CQuaternion::Inverse() const
{ {
float Norm = (W * W) + (X * X) + (Y * Y) + (Z * Z); float Norm = (W * W) + (X * X) + (Y * Y) + (Z * Z);
@ -56,13 +62,24 @@ CQuaternion CQuaternion::Inverse() const
return CQuaternion::skZero; return CQuaternion::skZero;
} }
CQuaternion CQuaternion::Lerp(const CQuaternion& rkRight, float t) const
{
CQuaternion Out( Math::Lerp<float>(W, rkRight.W, t), Math::Lerp<float>(X, rkRight.X, t),
Math::Lerp<float>(Y, rkRight.Y, t), Math::Lerp<float>(Z, rkRight.Z, t) );
return Out.Normalized();
}
CQuaternion CQuaternion::Slerp(const CQuaternion& rkRight, float t) const CQuaternion CQuaternion::Slerp(const CQuaternion& rkRight, float t) const
{ {
// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/ // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/
float CosHalfTheta = (W * rkRight.W) + (X * rkRight.X) + (Y * rkRight.Y) + (Z * rkRight.Z); float CosHalfTheta = (W * rkRight.W) + (X * rkRight.X) + (Y * rkRight.Y) + (Z * rkRight.Z);
if (Math::Abs(CosHalfTheta) >= 1.f) if (Math::Abs(CosHalfTheta) >= 1.f)
return *this; {
// Fall back on lerp in this situation.
return Lerp(rkRight, t);
}
float ScalarA, ScalarB; float ScalarA, ScalarB;
float SinHalfTheta = Math::Sqrt(1.f - (CosHalfTheta * CosHalfTheta)); float SinHalfTheta = Math::Sqrt(1.f - (CosHalfTheta * CosHalfTheta));

2
src/Math/CQuaternion.h
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@ -15,7 +15,9 @@ public:
CVector3f XAxis() const; CVector3f XAxis() const;
CVector3f YAxis() const; CVector3f YAxis() const;
CVector3f ZAxis() const; CVector3f ZAxis() const;
CQuaternion Normalized() const;
CQuaternion Inverse() const; CQuaternion Inverse() const;
CQuaternion Lerp(const CQuaternion& rkRight, float t) const;
CQuaternion Slerp(const CQuaternion& rkRight, float t) const; CQuaternion Slerp(const CQuaternion& rkRight, float t) const;
CVector3f ToEuler() const; CVector3f ToEuler() const;