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210 lines
4.2 KiB
C++
210 lines
4.2 KiB
C++
#include "Quat.h"
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#include "common/mathlib.h"
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float WrapFloat(float, float, float);
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void VectorsToAngles(const float forward[3], const float right[3], const float up[3], float angles[3]);
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#include <math.h>
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Quat::Quat()
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{
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}
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Quat::Quat(float _x, float _y, float _z, float _w)
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: x(_x), y(_y), z(_z), w(_w)
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{
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}
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Quat::Quat(const float angles[3])
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{
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float xAxis[3];
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float yAxis[3];
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float zAxis[3];
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AngleVectors(angles, yAxis, xAxis, zAxis);
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*this = Quat(xAxis, yAxis, zAxis);
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}
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Quat::Quat(const float xAxis[3], const float yAxis[3], const float zAxis[3])
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{
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float t = xAxis[0] + yAxis[1] + zAxis[2];
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if (t > 0) {
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float s = sqrtf(t + 1);
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x = (zAxis[1] - yAxis[2]) * (0.5f / s);
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y = (xAxis[2] - zAxis[0]) * (0.5f / s);
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z = (yAxis[0] - xAxis[1]) * (0.5f / s);
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w = s * 0.5f;
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} else {
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if (xAxis[0] > yAxis[1] && xAxis[0] > zAxis[2]) {
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float s = sqrtf(xAxis[0] - yAxis[1] - zAxis[2] + 1);
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x = 0.5f * s;
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y = (yAxis[0] + xAxis[1]) * (0.5f / s);
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z = (zAxis[0] + xAxis[2]) * (0.5f / s);
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w = (zAxis[1] - yAxis[2]) * (0.5f / s);
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} else if (yAxis[1] > xAxis[0] && yAxis[1] > zAxis[2]) {
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float s = sqrtf(yAxis[1] - xAxis[0] - zAxis[2] + 1);
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x = (xAxis[1] + yAxis[0]) * (0.5f / s);
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y = 0.5f * s;
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z = (zAxis[1] + yAxis[2]) * (0.5f / s);
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w = (xAxis[2] - zAxis[0]) * (0.5f / s);
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} else {
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float s = sqrtf(zAxis[2] - xAxis[0] - yAxis[1] + 1);
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x = (xAxis[2] + zAxis[0]) * (0.5f / s);
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y = (yAxis[2] + zAxis[1]) * (0.5f / s);
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z = 0.5f * s;
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w = (yAxis[0] - xAxis[1]) * (0.5f / s);
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}
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}
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}
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Quat::Quat(float angle, const float axis[3])
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{
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float sa = sinf(angle / 2);
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float ca = cosf(angle / 2);
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x = axis[0] * sa;
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y = axis[1] * sa;
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z = axis[2] * sa;
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w = ca;
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}
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Quat Quat::Conjugate() const
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{
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return Quat(-x, -y, -z, w);
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}
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Quat Quat::Unit() const
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{
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float l = sqrtf(x * x + y * y + z * z + w * w);
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return Quat(x / l, y / l, z / l, w / l);
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}
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void Quat::GetVectors(float xAxis[3], float yAxis[3], float zAxis[3]) const
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{
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float xx = x * x;
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float xy = x * y;
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float xz = x * z;
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float xw = x * w;
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float yy = y * y;
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float yz = y * z;
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float yw = y * w;
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float zz = z * z;
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float zw = z * w;
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float ww = w * w;
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xAxis[0] = 1 - 2 * (yy + zz);
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xAxis[1] = 2 * (xy - zw);
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xAxis[2] = 2 * (xz + yw);
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yAxis[0] = 2 * (xy + zw);
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yAxis[1] = 1 - 2 * (xx + zz);
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yAxis[2] = 2 * (yz - xw);
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zAxis[0] = 2 * (xz - yw);
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zAxis[1] = 2 * (yz + xw);
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zAxis[2] = 1 - 2 * (xx + yy);
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}
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Quat operator*(const Quat& q1, const Quat& q2)
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{
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return Quat(q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y,
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q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z,
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q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x,
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q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z);
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}
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Quat ConstantRateLerp(const Quat& src, const Quat& dst, float amount)
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{
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Quat rot = (dst * src.Conjugate()).Unit();
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// Compute the axis and angle we need to rotate about to go from src
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// to dst.
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float angle = acosf(rot.w) * 2;
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float sinAngle = sqrtf(1.0f - rot.w * rot.w);
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if (fabs(sinAngle) < 0.0005f)
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{
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sinAngle = 1;
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}
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vec3_t axis;
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axis[0] = rot.x / sinAngle;
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axis[1] = rot.y / sinAngle;
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axis[2] = rot.z / sinAngle;
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// Wrap the angle to the range -PI to PI
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angle = WrapFloat(angle, (float)(-M_PI), (float)(M_PI));
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// Amount to rotate this frame.
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float frameAngle = amount;
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if (fabs(angle) <= frameAngle)
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{
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// If we are very close, just jump to the goal orientation.
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return dst;
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}
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else
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{
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Quat final;
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if (angle < 0)
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{
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final = Quat(-frameAngle, axis) * src;
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}
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else
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{
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final = Quat(frameAngle, axis) * src;
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}
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return final;
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}
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}
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void Quat::GetAngles(float outAngles[3]) const
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{
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vec3_t xAxis;
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vec3_t yAxis;
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vec3_t zAxis;
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GetVectors(xAxis, yAxis, zAxis);
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VectorsToAngles(yAxis, xAxis, zAxis, outAngles);
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}
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