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-rw-r--r--core/math/quat.cpp177
1 files changed, 78 insertions, 99 deletions
diff --git a/core/math/quat.cpp b/core/math/quat.cpp
index c10f5da494..a9a21a1ba3 100644
--- a/core/math/quat.cpp
+++ b/core/math/quat.cpp
@@ -5,8 +5,8 @@
/* GODOT ENGINE */
/* https://godotengine.org */
/*************************************************************************/
-/* Copyright (c) 2007-2020 Juan Linietsky, Ariel Manzur. */
-/* Copyright (c) 2014-2020 Godot Engine contributors (cf. AUTHORS.md). */
+/* Copyright (c) 2007-2021 Juan Linietsky, Ariel Manzur. */
+/* Copyright (c) 2014-2021 Godot Engine contributors (cf. AUTHORS.md). */
/* */
/* Permission is hereby granted, free of charge, to any person obtaining */
/* a copy of this software and associated documentation files (the */
@@ -31,33 +31,7 @@
#include "quat.h"
#include "core/math/basis.h"
-#include "core/print_string.h"
-
-// set_euler_xyz expects a vector containing the Euler angles in the format
-// (ax,ay,az), where ax is the angle of rotation around x axis,
-// and similar for other axes.
-// This implementation uses XYZ convention (Z is the first rotation).
-void Quat::set_euler_xyz(const Vector3 &p_euler) {
- real_t half_a1 = p_euler.x * 0.5;
- real_t half_a2 = p_euler.y * 0.5;
- real_t half_a3 = p_euler.z * 0.5;
-
- // R = X(a1).Y(a2).Z(a3) convention for Euler angles.
- // Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-2)
- // a3 is the angle of the first rotation, following the notation in this reference.
-
- real_t cos_a1 = Math::cos(half_a1);
- real_t sin_a1 = Math::sin(half_a1);
- real_t cos_a2 = Math::cos(half_a2);
- real_t sin_a2 = Math::sin(half_a2);
- real_t cos_a3 = Math::cos(half_a3);
- real_t sin_a3 = Math::sin(half_a3);
-
- set(sin_a1 * cos_a2 * cos_a3 + sin_a2 * sin_a3 * cos_a1,
- -sin_a1 * sin_a3 * cos_a2 + sin_a2 * cos_a1 * cos_a3,
- sin_a1 * sin_a2 * cos_a3 + sin_a3 * cos_a1 * cos_a2,
- -sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3);
-}
+#include "core/string/print_string.h"
// get_euler_xyz returns a vector containing the Euler angles in the format
// (ax,ay,az), where ax is the angle of rotation around x axis,
@@ -68,32 +42,6 @@ Vector3 Quat::get_euler_xyz() const {
return m.get_euler_xyz();
}
-// set_euler_yxz expects a vector containing the Euler angles in the format
-// (ax,ay,az), where ax is the angle of rotation around x axis,
-// and similar for other axes.
-// This implementation uses YXZ convention (Z is the first rotation).
-void Quat::set_euler_yxz(const Vector3 &p_euler) {
- real_t half_a1 = p_euler.y * 0.5;
- real_t half_a2 = p_euler.x * 0.5;
- real_t half_a3 = p_euler.z * 0.5;
-
- // R = Y(a1).X(a2).Z(a3) convention for Euler angles.
- // Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-6)
- // a3 is the angle of the first rotation, following the notation in this reference.
-
- real_t cos_a1 = Math::cos(half_a1);
- real_t sin_a1 = Math::sin(half_a1);
- real_t cos_a2 = Math::cos(half_a2);
- real_t sin_a2 = Math::sin(half_a2);
- real_t cos_a3 = Math::cos(half_a3);
- real_t sin_a3 = Math::sin(half_a3);
-
- set(sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3,
- sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3,
- -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3,
- sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3);
-}
-
// get_euler_yxz returns a vector containing the Euler angles in the format
// (ax,ay,az), where ax is the angle of rotation around x axis,
// and similar for other axes.
@@ -106,16 +54,16 @@ Vector3 Quat::get_euler_yxz() const {
return m.get_euler_yxz();
}
-void Quat::operator*=(const Quat &q) {
- set(w * q.x + x * q.w + y * q.z - z * q.y,
- w * q.y + y * q.w + z * q.x - x * q.z,
- w * q.z + z * q.w + x * q.y - y * q.x,
- w * q.w - x * q.x - y * q.y - z * q.z);
+void Quat::operator*=(const Quat &p_q) {
+ x = w * p_q.x + x * p_q.w + y * p_q.z - z * p_q.y;
+ y = w * p_q.y + y * p_q.w + z * p_q.x - x * p_q.z;
+ z = w * p_q.z + z * p_q.w + x * p_q.y - y * p_q.x;
+ w = w * p_q.w - x * p_q.x - y * p_q.y - z * p_q.z;
}
-Quat Quat::operator*(const Quat &q) const {
+Quat Quat::operator*(const Quat &p_q) const {
Quat r = *this;
- r *= q;
+ r *= p_q;
return r;
}
@@ -146,29 +94,29 @@ Quat Quat::inverse() const {
return Quat(-x, -y, -z, w);
}
-Quat Quat::slerp(const Quat &q, const real_t &t) const {
+Quat Quat::slerp(const Quat &p_to, const real_t &p_weight) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), Quat(), "The start quaternion must be normalized.");
- ERR_FAIL_COND_V_MSG(!q.is_normalized(), Quat(), "The end quaternion must be normalized.");
+ ERR_FAIL_COND_V_MSG(!p_to.is_normalized(), Quat(), "The end quaternion must be normalized.");
#endif
Quat to1;
real_t omega, cosom, sinom, scale0, scale1;
// calc cosine
- cosom = dot(q);
+ cosom = dot(p_to);
// adjust signs (if necessary)
if (cosom < 0.0) {
cosom = -cosom;
- to1.x = -q.x;
- to1.y = -q.y;
- to1.z = -q.z;
- to1.w = -q.w;
+ to1.x = -p_to.x;
+ to1.y = -p_to.y;
+ to1.z = -p_to.z;
+ to1.w = -p_to.w;
} else {
- to1.x = q.x;
- to1.y = q.y;
- to1.z = q.z;
- to1.w = q.w;
+ to1.x = p_to.x;
+ to1.y = p_to.y;
+ to1.z = p_to.z;
+ to1.w = p_to.w;
}
// calculate coefficients
@@ -177,13 +125,13 @@ Quat Quat::slerp(const Quat &q, const real_t &t) const {
// standard case (slerp)
omega = Math::acos(cosom);
sinom = Math::sin(omega);
- scale0 = Math::sin((1.0 - t) * omega) / sinom;
- scale1 = Math::sin(t * omega) / sinom;
+ scale0 = Math::sin((1.0 - p_weight) * omega) / sinom;
+ scale1 = Math::sin(p_weight * omega) / sinom;
} else {
// "from" and "to" quaternions are very close
// ... so we can do a linear interpolation
- scale0 = 1.0 - t;
- scale1 = t;
+ scale0 = 1.0 - p_weight;
+ scale1 = p_weight;
}
// calculate final values
return Quat(
@@ -193,14 +141,14 @@ Quat Quat::slerp(const Quat &q, const real_t &t) const {
scale0 * w + scale1 * to1.w);
}
-Quat Quat::slerpni(const Quat &q, const real_t &t) const {
+Quat Quat::slerpni(const Quat &p_to, const real_t &p_weight) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), Quat(), "The start quaternion must be normalized.");
- ERR_FAIL_COND_V_MSG(!q.is_normalized(), Quat(), "The end quaternion must be normalized.");
+ ERR_FAIL_COND_V_MSG(!p_to.is_normalized(), Quat(), "The end quaternion must be normalized.");
#endif
const Quat &from = *this;
- real_t dot = from.dot(q);
+ real_t dot = from.dot(p_to);
if (Math::absf(dot) > 0.9999) {
return from;
@@ -208,24 +156,24 @@ Quat Quat::slerpni(const Quat &q, const real_t &t) const {
real_t theta = Math::acos(dot),
sinT = 1.0 / Math::sin(theta),
- newFactor = Math::sin(t * theta) * sinT,
- invFactor = Math::sin((1.0 - t) * theta) * sinT;
+ newFactor = Math::sin(p_weight * theta) * sinT,
+ invFactor = Math::sin((1.0 - p_weight) * theta) * sinT;
- return Quat(invFactor * from.x + newFactor * q.x,
- invFactor * from.y + newFactor * q.y,
- invFactor * from.z + newFactor * q.z,
- invFactor * from.w + newFactor * q.w);
+ return Quat(invFactor * from.x + newFactor * p_to.x,
+ invFactor * from.y + newFactor * p_to.y,
+ invFactor * from.z + newFactor * p_to.z,
+ invFactor * from.w + newFactor * p_to.w);
}
-Quat Quat::cubic_slerp(const Quat &q, const Quat &prep, const Quat &postq, const real_t &t) const {
+Quat Quat::cubic_slerp(const Quat &p_b, const Quat &p_pre_a, const Quat &p_post_b, const real_t &p_weight) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), Quat(), "The start quaternion must be normalized.");
- ERR_FAIL_COND_V_MSG(!q.is_normalized(), Quat(), "The end quaternion must be normalized.");
+ ERR_FAIL_COND_V_MSG(!p_b.is_normalized(), Quat(), "The end quaternion must be normalized.");
#endif
//the only way to do slerp :|
- real_t t2 = (1.0 - t) * t * 2;
- Quat sp = this->slerp(q, t);
- Quat sq = prep.slerpni(postq, t);
+ real_t t2 = (1.0 - p_weight) * p_weight * 2;
+ Quat sp = this->slerp(p_b, p_weight);
+ Quat sq = p_pre_a.slerpni(p_post_b, p_weight);
return sp.slerpni(sq, t2);
}
@@ -233,18 +181,49 @@ Quat::operator String() const {
return String::num(x) + ", " + String::num(y) + ", " + String::num(z) + ", " + String::num(w);
}
-void Quat::set_axis_angle(const Vector3 &axis, const real_t &angle) {
+Quat::Quat(const Vector3 &p_axis, real_t p_angle) {
#ifdef MATH_CHECKS
- ERR_FAIL_COND_MSG(!axis.is_normalized(), "The axis Vector3 must be normalized.");
+ ERR_FAIL_COND_MSG(!p_axis.is_normalized(), "The axis Vector3 must be normalized.");
#endif
- real_t d = axis.length();
+ real_t d = p_axis.length();
if (d == 0) {
- set(0, 0, 0, 0);
+ x = 0;
+ y = 0;
+ z = 0;
+ w = 0;
} else {
- real_t sin_angle = Math::sin(angle * 0.5);
- real_t cos_angle = Math::cos(angle * 0.5);
+ real_t sin_angle = Math::sin(p_angle * 0.5);
+ real_t cos_angle = Math::cos(p_angle * 0.5);
real_t s = sin_angle / d;
- set(axis.x * s, axis.y * s, axis.z * s,
- cos_angle);
+ x = p_axis.x * s;
+ y = p_axis.y * s;
+ z = p_axis.z * s;
+ w = cos_angle;
}
}
+
+// Euler constructor expects a vector containing the Euler angles in the format
+// (ax, ay, az), where ax is the angle of rotation around x axis,
+// and similar for other axes.
+// This implementation uses YXZ convention (Z is the first rotation).
+Quat::Quat(const Vector3 &p_euler) {
+ real_t half_a1 = p_euler.y * 0.5;
+ real_t half_a2 = p_euler.x * 0.5;
+ real_t half_a3 = p_euler.z * 0.5;
+
+ // R = Y(a1).X(a2).Z(a3) convention for Euler angles.
+ // Conversion to quaternion as listed in https://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/19770024290.pdf (page A-6)
+ // a3 is the angle of the first rotation, following the notation in this reference.
+
+ real_t cos_a1 = Math::cos(half_a1);
+ real_t sin_a1 = Math::sin(half_a1);
+ real_t cos_a2 = Math::cos(half_a2);
+ real_t sin_a2 = Math::sin(half_a2);
+ real_t cos_a3 = Math::cos(half_a3);
+ real_t sin_a3 = Math::sin(half_a3);
+
+ x = sin_a1 * cos_a2 * sin_a3 + cos_a1 * sin_a2 * cos_a3;
+ y = sin_a1 * cos_a2 * cos_a3 - cos_a1 * sin_a2 * sin_a3;
+ z = -sin_a1 * sin_a2 * cos_a3 + cos_a1 * cos_a2 * sin_a3;
+ w = sin_a1 * sin_a2 * sin_a3 + cos_a1 * cos_a2 * cos_a3;
+}
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