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WXYZ quaternion layout

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This commit is contained in:
Jack Andersen
2016-04-06 17:39:24 -10:00
parent 65a49aca92
commit baaca3136b
4 changed files with 127 additions and 86 deletions
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18
src/CMatrix3f.cpp
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@@ -9,20 +9,20 @@ const CMatrix3f CMatrix3f::skIdentityMatrix3f = CMatrix3f();
CMatrix3f::CMatrix3f(const CQuaternion& quat)
{
CQuaternion nq = quat.normalized();
float x2 = nq.v[0] * nq.v[0];
float y2 = nq.v[1] * nq.v[1];
float z2 = nq.v[2] * nq.v[2];
float x2 = nq.x * nq.x;
float y2 = nq.y * nq.y;
float z2 = nq.z * nq.z;
m[0][0] = 1.0 - 2.0 * y2 - 2.0 * z2;
m[1][0] = 2.0 * nq.v[0] * nq.v[1] - 2.0 * nq.v[2] * nq.r;
m[2][0] = 2.0 * nq.v[0] * nq.v[2] + 2.0 * nq.v[1] * nq.r;
m[1][0] = 2.0 * nq.x * nq.y - 2.0 * nq.z * nq.w;
m[2][0] = 2.0 * nq.x * nq.z + 2.0 * nq.y * nq.w;
m[0][1] = 2.0 * nq.v[0] * nq.v[1] + 2.0 * nq.v[2] * nq.r;
m[0][1] = 2.0 * nq.x * nq.y + 2.0 * nq.z * nq.w;
m[1][1] = 1.0 - 2.0 * x2 - 2.0 * z2;
m[2][1] = 2.0 * nq.v[1] * nq.v[2] - 2.0 * nq.v[0] * nq.r;
m[2][1] = 2.0 * nq.y * nq.z - 2.0 * nq.x * nq.w;
m[0][2] = 2.0 * nq.v[0] * nq.v[2] - 2.0 * nq.v[1] * nq.r;
m[1][2] = 2.0 * nq.v[1] * nq.v[2] + 2.0 * nq.v[0] * nq.r;
m[0][2] = 2.0 * nq.x * nq.z - 2.0 * nq.y * nq.w;
m[1][2] = 2.0 * nq.y * nq.z + 2.0 * nq.x * nq.w;
m[2][2] = 1.0 - 2.0 * x2 - 2.0 * y2;
m[0][3] = 0.0f;

126
src/CQuaternion.cpp
View File

@@ -13,35 +13,41 @@ void CQuaternion::fromVector3f(const CVector3f& vec)
float sinY = std::sin(0.5f * vec.y);
float sinZ = std::sin(0.5f * vec.z);
r = cosZ * cosY * cosX + sinZ * sinY * sinX;
v.x = cosZ * cosY * sinX - sinZ * sinY * cosX;
v.y = cosZ * sinY * cosX + sinZ * cosY * sinX;
v.z = sinZ * cosY * cosX - cosZ * sinY * sinX;
w = cosZ * cosY * cosX + sinZ * sinY * sinX;
x = cosZ * cosY * sinX - sinZ * sinY * cosX;
y = cosZ * sinY * cosX + sinZ * cosY * sinX;
z = sinZ * cosY * cosX - cosZ * sinY * sinX;
}
CQuaternion& CQuaternion::operator=(const CQuaternion& q)
{
r = q.r;
v = q.v;
#if __SSE__
mVec128 = q.mVec128;
#else
w = q.w;
x = q.x;
y = q.y;
z = q.z;
#endif
return *this;
}
CQuaternion CQuaternion::operator+(const CQuaternion& q) const
{
return CQuaternion(r + q.r, v+q.v);
return CQuaternion(w + q.w, x + q.x, y + q.y, z + q.z);
}
CQuaternion CQuaternion::operator-(const CQuaternion& q) const
{
return CQuaternion(r - q.r, v-q.v);
return CQuaternion(w - q.w, x - q.x, y - q.y, z - q.z);
}
CQuaternion CQuaternion::operator*(const CQuaternion& q) const
{
return CQuaternion(r*q.r - v.dot(q.v),
v.y * q.v.z - v.z * q.v.y + r * q.v.x + v.x*q.r,
v.z * q.v.x - v.x * q.v.z + r * q.v.y + v.y*q.r,
v.x * q.v.y - v.y * q.v.x + r * q.v.z + v.z*q.r);
return CQuaternion(w*q.w - CVector3f(x, y, z).dot({q.x, q.y, q.z}),
y * q.z - z * q.y + w * q.x + x*q.w,
z * q.x - x * q.z + w * q.y + y*q.w,
x * q.y - y * q.x + w * q.z + z*q.w);
}
CQuaternion CQuaternion::operator/(const CQuaternion& q) const
@@ -53,54 +59,62 @@ CQuaternion CQuaternion::operator/(const CQuaternion& q) const
CQuaternion CQuaternion::operator*(float scale) const
{
return CQuaternion(r*scale, v*scale);
return CQuaternion(w*scale, x*scale, y*scale, z*scale);
}
CQuaternion CQuaternion::operator/(float scale) const
{
return CQuaternion(r/scale, v/scale);
return CQuaternion(w/scale, x/scale, y/scale, z/scale);
}
CQuaternion CQuaternion::operator-() const
{
return CQuaternion(-r, -v);
return CQuaternion(-w, -x, -y, -z);
}
const CQuaternion& CQuaternion::operator+=(const CQuaternion& q)
{
r += q.r;
v += q.v;
w += q.w;
x += q.x;
y += q.y;
z += q.z;
return *this;
}
const CQuaternion& CQuaternion::operator-=(const CQuaternion& q)
{
r -= q.r;
v -= q.v;
w -= q.w;
x -= q.x;
y -= q.y;
z -= q.z;
return *this;
}
const CQuaternion& CQuaternion::operator *=(const CQuaternion& q)
{
r = r*q.r - v.dot(q.v);
v.x = v.y * q.v.z - v.z * q.v.y + r * q.v.x + v.x*q.r;
v.y = v.z * q.v.x - v.x * q.v.z + r * q.v.y + v.y*q.r;
v.z = v.x * q.v.y - v.y * q.v.x + r * q.v.z + v.z*q.r;
w = w*q.w - CVector3f(x, y, z).dot({q.x, q.y, q.z});
x = y * q.z - z * q.y + w * q.x + x*q.w;
y = z * q.x - x * q.z + w * q.y + y*q.w;
z = x * q.y - y * q.x + w * q.z + z*q.w;
return *this;
return *this;
}
const CQuaternion& CQuaternion::operator *=(float scale)
{
r *= scale;
v *= scale;
w *= scale;
x *= scale;
y *= scale;
z *= scale;
return *this;
}
const CQuaternion& CQuaternion::operator/=(float scale)
{
r /= scale;
v /= scale;
w /= scale;
x /= scale;
y /= scale;
z /= scale;
return *this;
}
@@ -111,7 +125,7 @@ float CQuaternion::magnitude() const
float CQuaternion::magSquared() const
{
return (r*r + (v.dot(v)));
return w*w + x*x + y*y + z*z;
}
void CQuaternion::normalize()
@@ -126,12 +140,14 @@ CQuaternion CQuaternion::normalized() const
void CQuaternion::invert()
{
v = -v;
x = -x;
y = -y;
z = -z;
}
CQuaternion CQuaternion::inverse() const
{
return CQuaternion(r, -v);
return CQuaternion(w, -x, -y, -z);
}
CAxisAngle CQuaternion::toAxisAngle()
@@ -153,47 +169,55 @@ CAxisAngle CQuaternion::toAxisAngle()
CQuaternion CQuaternion::log() const
{
float a = std::acos(r);
float a = std::acos(w);
float sina = std::sin(a);
CQuaternion ret;
ret.r = 0.f;
ret.w = 0.f;
if (sina > 0.f)
{
ret.v.x = a * v.x / sina;
ret.v.y = a * v.y / sina;
ret.v.z = a * v.z / sina;
ret.x = a * x / sina;
ret.y = a * y / sina;
ret.z = a * z / sina;
}
else
ret.v = CVector3f(0.f);
{
ret.x = 0.f;
ret.y = 0.f;
ret.z = 0.f;
}
return ret;
}
CQuaternion CQuaternion::exp() const
{
float a = (v.magnitude());
float a = (CVector3f(x, y, z).magnitude());
float sina = std::sin(a);
float cosa = std::cos(a);
CQuaternion ret;
ret.r = cosa;
ret.w = cosa;
if (a > 0.f)
{
ret.v.x = sina * v.x / a;
ret.v.y = sina * v.y / a;
ret.v.z = sina * v.z / a;
ret.x = sina * x / a;
ret.y = sina * y / a;
ret.z = sina * z / a;
}
else
ret.v = CVector3f(0.f);
{
ret.x = 0.f;
ret.y = 0.f;
ret.z = 0.f;
}
return ret;
}
float CQuaternion::dot(const CQuaternion& b)
{
return v.x * b.v.x + v.y * b.v.y + v.z * b.v.z + r * b.r;
return x * b.x + y * b.y + z * b.z + w * b.w;
}
CQuaternion CQuaternion::lerp(CQuaternion& a, CQuaternion& b, double t)
@@ -228,10 +252,10 @@ CQuaternion CQuaternion::slerp(CQuaternion& a, CQuaternion& b, double t)
const double d = 1.0 / std::sin(theta);
const double s0 = std::sin((1.0 - t) * theta);
ret.v.x = (float)(a.v.x * s0 + b.v.x * s1) * d;
ret.v.y = (float)(a.v.y * s0 + b.v.y * s1) * d;
ret.v.z = (float)(a.v.z * s0 + b.v.z * s1) * d;
ret.r = (float)(a.r * s0 + b.r * 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;
}
@@ -240,16 +264,16 @@ CQuaternion CQuaternion::slerp(CQuaternion& a, CQuaternion& b, double t)
CQuaternion operator+(float lhs, const CQuaternion& rhs)
{
return CQuaternion(lhs + rhs.r, lhs * rhs.v);
return CQuaternion(lhs + rhs.w, lhs * rhs.x, lhs * rhs.y, lhs * rhs.z);
}
CQuaternion operator-(float lhs, const CQuaternion& rhs)
{
return CQuaternion(lhs - rhs.r, lhs * rhs.v);
return CQuaternion(lhs - rhs.w, lhs * rhs.x, lhs * rhs.y, lhs * rhs.z);
}
CQuaternion operator*(float lhs, const CQuaternion& rhs)
{
return CQuaternion(lhs * rhs.r, lhs * rhs.v);
return CQuaternion(lhs * rhs.w, lhs * rhs.x, lhs * rhs.y, lhs * rhs.z);
}
}