diff options
Diffstat (limited to 'core/math/quaternion.cpp')
| -rw-r--r-- | core/math/quaternion.cpp | 56 |
1 files changed, 54 insertions, 2 deletions
diff --git a/core/math/quaternion.cpp b/core/math/quaternion.cpp index c681c60694..c836a82e37 100644 --- a/core/math/quaternion.cpp +++ b/core/math/quaternion.cpp @@ -112,10 +112,11 @@ Quaternion Quaternion::exp() const { Quaternion src = *this; Vector3 src_v = Vector3(src.x, src.y, src.z); real_t theta = src_v.length(); - if (theta < CMP_EPSILON) { + src_v = src_v.normalized(); + if (theta < CMP_EPSILON || !src_v.is_normalized()) { return Quaternion(0, 0, 0, 1); } - return Quaternion(src_v.normalized(), theta); + return Quaternion(src_v, theta); } Quaternion Quaternion::slerp(const Quaternion &p_to, const real_t &p_weight) const { @@ -233,6 +234,57 @@ Quaternion Quaternion::spherical_cubic_interpolate(const Quaternion &p_b, const return q1.slerp(q2, p_weight); } +Quaternion Quaternion::spherical_cubic_interpolate_in_time(const Quaternion &p_b, const Quaternion &p_pre_a, const Quaternion &p_post_b, const real_t &p_weight, + const real_t &p_b_t, const real_t &p_pre_a_t, const real_t &p_post_b_t) const { +#ifdef MATH_CHECKS + ERR_FAIL_COND_V_MSG(!is_normalized(), Quaternion(), "The start quaternion must be normalized."); + ERR_FAIL_COND_V_MSG(!p_b.is_normalized(), Quaternion(), "The end quaternion must be normalized."); +#endif + Quaternion from_q = *this; + Quaternion pre_q = p_pre_a; + Quaternion to_q = p_b; + Quaternion post_q = p_post_b; + + // Align flip phases. + from_q = Basis(from_q).get_rotation_quaternion(); + pre_q = Basis(pre_q).get_rotation_quaternion(); + to_q = Basis(to_q).get_rotation_quaternion(); + post_q = Basis(post_q).get_rotation_quaternion(); + + // Flip quaternions to shortest path if necessary. + bool flip1 = signbit(from_q.dot(pre_q)); + pre_q = flip1 ? -pre_q : pre_q; + bool flip2 = signbit(from_q.dot(to_q)); + to_q = flip2 ? -to_q : to_q; + bool flip3 = flip2 ? to_q.dot(post_q) <= 0 : signbit(to_q.dot(post_q)); + post_q = flip3 ? -post_q : post_q; + + // Calc by Expmap in from_q space. + Quaternion ln_from = Quaternion(0, 0, 0, 0); + Quaternion ln_to = (from_q.inverse() * to_q).log(); + Quaternion ln_pre = (from_q.inverse() * pre_q).log(); + Quaternion ln_post = (from_q.inverse() * post_q).log(); + Quaternion ln = Quaternion(0, 0, 0, 0); + ln.x = Math::cubic_interpolate_in_time(ln_from.x, ln_to.x, ln_pre.x, ln_post.x, p_weight, p_b_t, p_pre_a_t, p_post_b_t); + ln.y = Math::cubic_interpolate_in_time(ln_from.y, ln_to.y, ln_pre.y, ln_post.y, p_weight, p_b_t, p_pre_a_t, p_post_b_t); + ln.z = Math::cubic_interpolate_in_time(ln_from.z, ln_to.z, ln_pre.z, ln_post.z, p_weight, p_b_t, p_pre_a_t, p_post_b_t); + Quaternion q1 = from_q * ln.exp(); + + // Calc by Expmap in to_q space. + ln_from = (to_q.inverse() * from_q).log(); + ln_to = Quaternion(0, 0, 0, 0); + ln_pre = (to_q.inverse() * pre_q).log(); + ln_post = (to_q.inverse() * post_q).log(); + ln = Quaternion(0, 0, 0, 0); + ln.x = Math::cubic_interpolate_in_time(ln_from.x, ln_to.x, ln_pre.x, ln_post.x, p_weight, p_b_t, p_pre_a_t, p_post_b_t); + ln.y = Math::cubic_interpolate_in_time(ln_from.y, ln_to.y, ln_pre.y, ln_post.y, p_weight, p_b_t, p_pre_a_t, p_post_b_t); + ln.z = Math::cubic_interpolate_in_time(ln_from.z, ln_to.z, ln_pre.z, ln_post.z, p_weight, p_b_t, p_pre_a_t, p_post_b_t); + Quaternion q2 = to_q * ln.exp(); + + // To cancel error made by Expmap ambiguity, do blends. + return q1.slerp(q2, p_weight); +} + Quaternion::operator String() const { return "(" + String::num_real(x, false) + ", " + String::num_real(y, false) + ", " + String::num_real(z, false) + ", " + String::num_real(w, false) + ")"; } |