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Additional quaternion functions

This commit is contained in:
Jack Andersen 2017-07-13 19:12:21 -10:00
parent a8764732dc
commit 13949b249e
2 changed files with 44 additions and 4 deletions
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3
include/zeus/CQuaternion.hpp
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@ -259,6 +259,9 @@ public:
static CQuaternion slerp(const CQuaternion& a, const CQuaternion& b, double t);
static CQuaternion slerpShort(const CQuaternion& a, const CQuaternion& b, double t);
static CQuaternion nlerp(const CQuaternion& a, const CQuaternion& b, double t);
static CQuaternion shortestRotationArc(const zeus::CVector3f& v0, const zeus::CVector3f& v1);
static CQuaternion clampedRotateTo(const zeus::CVector3f& v0, const zeus::CVector3f& v1,
const zeus::CRelAngle& angle);
inline float roll() const { return std::atan2(2.f * (x * y + w * z), w * w + x * x - y * y - z * z); }

45
src/CQuaternion.cpp
View File

@ -196,16 +196,53 @@ CQuaternion CQuaternion::slerp(const CQuaternion& a, const CQuaternion& b, doubl
const double d = 1.0 / std::sin(theta);
const double s0 = std::sin((1.0 - t) * theta);
ret.x = (float)(a.x * s0 + b.x * s1) * d;
ret.y = (float)(a.y * s0 + b.y * s1) * d;
ret.z = (float)(a.z * s0 + b.z * s1) * d;
ret.w = (float)(a.w * s0 + b.w * s1) * d;
ret.x = float((a.x * s0 + b.x * s1) * d);
ret.y = float((a.y * s0 + b.y * s1) * d);
ret.z = float((a.z * s0 + b.z * s1) * d);
ret.w = float((a.w * s0 + b.w * s1) * d);
return ret;
}
return a;
}
CQuaternion CQuaternion::shortestRotationArc(const zeus::CVector3f& v0, const zeus::CVector3f& v1)
{
CVector3f v0N = v0;
CVector3f v1N = v1;
if (!v0N.isZero())
v0N.normalize();
if (!v1N.isZero())
v1N.normalize();
CVector3f cross = v0N.cross(v1N);
if (cross.magSquared() < 0.001f)
{
if (v0N.dot(v1N) > 0.f)
return CQuaternion::skNoRotation;
if (cross.canBeNormalized())
return CQuaternion(0.0f, cross.normalized());
return CQuaternion::skNoRotation;
}
else
{
float w = (1.f + zeus::clamp(-1.f, v0N.dot(v1N), 1.f)) * 2.f;
return CQuaternion(0.5f * w, cross * (1.f / std::sqrt(w)));
}
}
CQuaternion CQuaternion::clampedRotateTo(const zeus::CVector3f& v0, const zeus::CVector3f& v1,
const zeus::CRelAngle& angle)
{
CQuaternion arc = shortestRotationArc(v0, v1);
if (angle >= 2.f * std::acos(arc.w))
return arc;
return fromAxisAngle(arc.getImaginary(), angle);
}
CQuaternion CQuaternion::slerpShort(const CQuaternion& a, const CQuaternion& b, double t)
{
return zeus::CQuaternion::slerp((b.dot(a) >= 0.f) ? a : a.buildEquivalent(), b, t);