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authorRaul Santos <raulsntos@gmail.com>2022-08-24 12:03:53 +0200
committerRaul Santos <raulsntos@gmail.com>2022-08-27 12:26:38 +0200
commit4c5cefe4fe84f76e841e38b21dc165d16e1e4812 (patch)
treed9448a6a3bc65abaf0d980166d596efb8a4b33b6 /modules/mono/glue/GodotSharp
parentf72b7a1595f687c72fdf781a97e68b71de7e3f52 (diff)
C#: Rename and fix `Quaternion.SphericalCubicInterpolate`
Diffstat (limited to 'modules/mono/glue/GodotSharp')
-rw-r--r--modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs70
1 files changed, 42 insertions, 28 deletions
diff --git a/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs b/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
index 7c54571be8..8568ecf299 100644
--- a/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
+++ b/modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
@@ -132,7 +132,7 @@ namespace Godot
}
/// <summary>
- /// Performs a cubic spherical interpolation between quaternions <paramref name="preA"/>, this quaternion,
+ /// Performs a spherical cubic interpolation between quaternions <paramref name="preA"/>, this quaternion,
/// <paramref name="b"/>, and <paramref name="postB"/>, by the given amount <paramref name="weight"/>.
/// </summary>
/// <param name="b">The destination quaternion.</param>
@@ -140,45 +140,59 @@ namespace Godot
/// <param name="postB">A quaternion after <paramref name="b"/>.</param>
/// <param name="weight">A value on the range of 0.0 to 1.0, representing the amount of interpolation.</param>
/// <returns>The interpolated quaternion.</returns>
- public Quaternion CubicSlerp(Quaternion b, Quaternion preA, Quaternion postB, real_t weight)
+ public Quaternion SphericalCubicInterpolate(Quaternion b, Quaternion preA, Quaternion postB, real_t weight)
{
+#if DEBUG
+ if (!IsNormalized())
+ {
+ throw new InvalidOperationException("Quaternion is not normalized");
+ }
+ if (!b.IsNormalized())
+ {
+ throw new ArgumentException("Argument is not normalized", nameof(b));
+ }
+#endif
+
// Align flip phases.
- Quaternion retQ = new Basis(this).GetRotationQuaternion();
+ Quaternion fromQ = new Basis(this).GetRotationQuaternion();
Quaternion preQ = new Basis(preA).GetRotationQuaternion();
Quaternion toQ = new Basis(b).GetRotationQuaternion();
Quaternion postQ = new Basis(postB).GetRotationQuaternion();
// Flip quaternions to shortest path if necessary.
- bool flip1 = Math.Sign(retQ.Dot(preQ)) < 0;
+ bool flip1 = Math.Sign(fromQ.Dot(preQ)) < 0;
preQ = flip1 ? -preQ : preQ;
- bool flip2 = Math.Sign(retQ.Dot(toQ)) < 0;
+ bool flip2 = Math.Sign(fromQ.Dot(toQ)) < 0;
toQ = flip2 ? -toQ : toQ;
bool flip3 = flip2 ? toQ.Dot(postQ) <= 0 : Math.Sign(toQ.Dot(postQ)) < 0;
postQ = flip3 ? -postQ : postQ;
- if (flip1 || flip2 || flip3)
- {
- // Angle is too large, calc by Approximate.
- retQ.x = Mathf.CubicInterpolate(retQ.x, toQ.x, preQ.x, postQ.x, weight);
- retQ.y = Mathf.CubicInterpolate(retQ.y, toQ.y, preQ.y, postQ.y, weight);
- retQ.z = Mathf.CubicInterpolate(retQ.z, toQ.z, preQ.z, postQ.z, weight);
- retQ.w = Mathf.CubicInterpolate(retQ.w, toQ.w, preQ.w, postQ.w, weight);
- retQ = retQ.Normalized();
- }
- else
- {
- // Calc by Expmap.
- Quaternion ln_ret = retQ.Log();
- Quaternion ln_to = toQ.Log();
- Quaternion ln_pre = preQ.Log();
- Quaternion ln_post = postQ.Log();
- Quaternion ln = new Quaternion(0, 0, 0, 0);
- ln.x = Mathf.CubicInterpolate(ln_ret.x, ln_to.x, ln_pre.x, ln_post.x, weight);
- ln.y = Mathf.CubicInterpolate(ln_ret.y, ln_to.y, ln_pre.y, ln_post.y, weight);
- ln.z = Mathf.CubicInterpolate(ln_ret.z, ln_to.z, ln_pre.z, ln_post.z, weight);
- retQ = ln.Exp();
- }
- return retQ;
+ // Calc by Expmap in fromQ space.
+ Quaternion lnFrom = new Quaternion(0, 0, 0, 0);
+ Quaternion lnTo = (fromQ.Inverse() * toQ).Log();
+ Quaternion lnPre = (fromQ.Inverse() * preQ).Log();
+ Quaternion lnPost = (fromQ.Inverse() * postQ).Log();
+ Quaternion ln = new Quaternion(
+ Mathf.CubicInterpolate(lnFrom.x, lnTo.x, lnPre.x, lnPost.x, weight),
+ Mathf.CubicInterpolate(lnFrom.y, lnTo.y, lnPre.y, lnPost.y, weight),
+ Mathf.CubicInterpolate(lnFrom.z, lnTo.z, lnPre.z, lnPost.z, weight),
+ 0);
+ Quaternion q1 = fromQ * ln.Exp();
+
+ // Calc by Expmap in toQ space.
+ lnFrom = (toQ.Inverse() * fromQ).Log();
+ lnTo = new Quaternion(0, 0, 0, 0);
+ lnPre = (toQ.Inverse() * preQ).Log();
+ lnPost = (toQ.Inverse() * postQ).Log();
+ ln = new Quaternion(
+ Mathf.CubicInterpolate(lnFrom.x, lnTo.x, lnPre.x, lnPost.x, weight),
+ Mathf.CubicInterpolate(lnFrom.y, lnTo.y, lnPre.y, lnPost.y, weight),
+ Mathf.CubicInterpolate(lnFrom.z, lnTo.z, lnPre.z, lnPost.z, weight),
+ 0);
+ Quaternion q2 = toQ * ln.Exp();
+
+ // To cancel error made by Expmap ambiguity, do blends.
+ return q1.Slerp(q2, weight);
}
/// <summary>