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- add remaining quaternion function implementations
This commit is contained in:
Gutawer
Christoph Oelckers
parent
540f778047
commit
9f0c518be9
5 changed files with 427 additions and 26 deletions
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@ -8229,6 +8229,7 @@ FxExpression *FxMemberFunctionCall::Resolve(FCompileContext& ctx)
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// because the resulting value type would cause problems in nearly every other place where identifiers are being used.
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// [ZZ] substitute ccls for String internal type.
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if (id == NAME_String) ccls = TypeStringStruct;
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else if (id == NAME_Quat || id == NAME_FQuat) ccls = TypeQuaternionStruct;
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else ccls = FindContainerType(id, ctx);
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if (ccls != nullptr) static_cast<FxIdentifier *>(Self)->noglobal = true;
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}
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@ -1132,19 +1132,31 @@ DEFINE_FIELD(DHUDFont, mFont);
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//
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// Quaternion
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DEFINE_ACTION_FUNCTION(_QuatStruct, FromEuler)
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void QuatFromAngles(double yaw, double pitch, double roll, DQuaternion* pquat)
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{
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*pquat = DQuaternion::FromAngles(yaw, pitch, roll);
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}
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DEFINE_ACTION_FUNCTION_NATIVE(_QuatStruct, FromAngles, QuatFromAngles)
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{
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PARAM_PROLOGUE;
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PARAM_FLOAT(yaw);
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PARAM_FLOAT(pitch);
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PARAM_FLOAT(roll);
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I_Error("Quat.FromEuler not implemented");
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ret->SetVector4({0, 1, 2, 3}); // X Y Z W
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return 1;
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DQuaternion quat;
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QuatFromAngles(yaw, pitch, roll, &quat);
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ACTION_RETURN_QUAT(quat);
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}
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DEFINE_ACTION_FUNCTION(_QuatStruct, AxisAngle)
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void QuatAxisAngle(double x, double y, double z, double angleDeg, DQuaternion* pquat)
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{
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auto axis = DVector3(x, y, z);
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auto angle = DAngle::fromDeg(angleDeg);
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*pquat = DQuaternion::AxisAngle(axis, angle);
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}
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DEFINE_ACTION_FUNCTION_NATIVE(_QuatStruct, AxisAngle, QuatAxisAngle)
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{
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PARAM_PROLOGUE;
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PARAM_FLOAT(x);
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@ -1152,12 +1164,24 @@ DEFINE_ACTION_FUNCTION(_QuatStruct, AxisAngle)
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PARAM_FLOAT(z);
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PARAM_FLOAT(angle);
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I_Error("Quat.AxisAngle not implemented");
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ret->SetVector4({ 0, 1, 2, 3 }); // X Y Z W
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return 1;
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DQuaternion quat;
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QuatAxisAngle(x, y, z, angle, &quat);
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ACTION_RETURN_QUAT(quat);
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}
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DEFINE_ACTION_FUNCTION(_QuatStruct, Nlerp)
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void QuatNLerp(
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double ax, double ay, double az, double aw,
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double bx, double by, double bz, double bw,
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double t,
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DQuaternion* pquat
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)
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{
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auto from = DQuaternion { ax, ay, az, aw };
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auto to = DQuaternion { bx, by, bz, bw };
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*pquat = DQuaternion::NLerp(from, to, t);
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}
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DEFINE_ACTION_FUNCTION_NATIVE(_QuatStruct, NLerp, QuatNLerp)
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{
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PARAM_PROLOGUE;
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PARAM_FLOAT(ax);
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@ -1168,14 +1192,26 @@ DEFINE_ACTION_FUNCTION(_QuatStruct, Nlerp)
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PARAM_FLOAT(by);
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PARAM_FLOAT(bz);
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PARAM_FLOAT(bw);
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PARAM_FLOAT(f);
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PARAM_FLOAT(t);
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I_Error("Quat.NLerp not implemented");
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ret->SetVector4({ 0, 1, 2, 3 }); // X Y Z W
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return 1;
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DQuaternion quat;
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QuatNLerp(ax, ay, az, aw, bx, by, bz, bw, t, &quat);
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ACTION_RETURN_QUAT(quat);
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}
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DEFINE_ACTION_FUNCTION(_QuatStruct, Slerp)
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void QuatSLerp(
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double ax, double ay, double az, double aw,
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double bx, double by, double bz, double bw,
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double t,
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DQuaternion* pquat
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)
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{
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auto from = DQuaternion { ax, ay, az, aw };
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auto to = DQuaternion { bx, by, bz, bw };
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*pquat = DQuaternion::SLerp(from, to, t);
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}
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DEFINE_ACTION_FUNCTION_NATIVE(_QuatStruct, SLerp, QuatSLerp)
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{
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PARAM_PROLOGUE;
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PARAM_FLOAT(ax);
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@ -1186,9 +1222,43 @@ DEFINE_ACTION_FUNCTION(_QuatStruct, Slerp)
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PARAM_FLOAT(by);
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PARAM_FLOAT(bz);
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PARAM_FLOAT(bw);
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PARAM_FLOAT(f);
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PARAM_FLOAT(t);
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I_Error("Quat.SLerp not implemented");
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ret->SetVector4({ 0, 1, 2, 3 }); // X Y Z W
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return 1;
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}
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DQuaternion quat;
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QuatSLerp(ax, ay, az, aw, bx, by, bz, bw, t, &quat);
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ACTION_RETURN_QUAT(quat);
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}
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void QuatConjugate(
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double x, double y, double z, double w,
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DQuaternion* pquat
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)
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{
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*pquat = DQuaternion(x, y, z, w).Conjugate();
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}
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DEFINE_ACTION_FUNCTION_NATIVE(_QuatStruct, Conjugate, QuatConjugate)
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{
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PARAM_SELF_STRUCT_PROLOGUE(DQuaternion);
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DQuaternion quat;
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QuatConjugate(self->X, self->Y, self->Z, self->W, &quat);
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ACTION_RETURN_QUAT(quat);
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}
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void QuatInverse(
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double x, double y, double z, double w,
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DQuaternion* pquat
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)
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{
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*pquat = DQuaternion(x, y, z, w).Inverse();
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}
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DEFINE_ACTION_FUNCTION_NATIVE(_QuatStruct, Inverse, QuatInverse)
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{
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PARAM_SELF_STRUCT_PROLOGUE(DQuaternion);
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DQuaternion quat;
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QuatInverse(self->X, self->Y, self->Z, self->W, &quat);
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ACTION_RETURN_QUAT(quat);
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}
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@ -147,6 +147,14 @@ struct VMReturn
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((double *)Location)[2] = val[2];
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((double *)Location)[3] = val[3];
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}
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void SetQuaternion(const DQuaternion &val)
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{
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assert(RegType == (REGT_FLOAT | REGT_MULTIREG4));
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((double *)Location)[0] = val[0];
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((double *)Location)[1] = val[1];
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((double *)Location)[2] = val[2];
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((double *)Location)[3] = val[3];
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}
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void SetVector(const double val[3])
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{
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assert(RegType == (REGT_FLOAT|REGT_MULTIREG3));
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@ -748,6 +756,8 @@ class AActor;
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#define ACTION_RETURN_FLOAT(v) do { double u = v; if (numret > 0) { assert(ret != nullptr); ret->SetFloat(u); return 1; } return 0; } while(0)
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#define ACTION_RETURN_VEC2(v) do { DVector2 u = v; if (numret > 0) { assert(ret != nullptr); ret[0].SetVector2(u); return 1; } return 0; } while(0)
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#define ACTION_RETURN_VEC3(v) do { DVector3 u = v; if (numret > 0) { assert(ret != nullptr); ret[0].SetVector(u); return 1; } return 0; } while(0)
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#define ACTION_RETURN_VEC4(v) do { DVector4 u = v; if (numret > 0) { assert(ret != nullptr); ret[0].SetVector4(u); return 1; } return 0; } while(0)
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#define ACTION_RETURN_QUAT(v) do { DQuaternion u = v; if (numret > 0) { assert(ret != nullptr); ret[0].SetQuaternion(u); return 1; } return 0; } while(0)
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#define ACTION_RETURN_INT(v) do { int u = v; if (numret > 0) { assert(ret != NULL); ret->SetInt(u); return 1; } return 0; } while(0)
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#define ACTION_RETURN_BOOL(v) ACTION_RETURN_INT(v)
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#define ACTION_RETURN_STRING(v) do { FString u = v; if (numret > 0) { assert(ret != NULL); ret->SetString(u); return 1; } return 0; } while(0)
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@ -992,6 +992,11 @@ struct TVector4
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{
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return X*other.X + Y*other.Y + Z*other.Z + W*other.W;
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}
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vec_t dot(const TVector4 &other) const
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{
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return X*other.X + Y*other.Y + Z*other.Z + W*other.W;
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}
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};
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template<class vec_t>
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@ -1717,13 +1722,269 @@ inline TMatrix3x3<T>::TMatrix3x3(const TVector3<T> &axis, TAngle<T> degrees)
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template<typename vec_t>
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class TQuaternion : public TVector4<vec_t>
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class TQuaternion
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{
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public:
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typedef TVector2<vec_t> Vector2;
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typedef TVector3<vec_t> Vector3;
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vec_t X, Y, Z, W;
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TQuaternion() = default;
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TQuaternion(vec_t a, vec_t b, vec_t c, vec_t d) : TVector4<vec_t>(a, b, c, d) {}
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TQuaternion(const vec_t* o) : TVector4<vec_t>(o[0], o[1], o[2], o[3]) {}
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TQuaternion(const TQuaternion& other) = default;
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TQuaternion(vec_t x, vec_t y, vec_t z, vec_t 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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TQuaternion(vec_t *o)
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: X(o[0]), Y(o[1]), Z(o[2]), W(o[3])
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{
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}
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TQuaternion(const TQuaternion &other) = default;
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TQuaternion(const Vector3 &v, vec_t s)
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: X(v.X), Y(v.Y), Z(v.Z), W(s)
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{
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}
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TQuaternion(const vec_t v[4])
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: TQuaternion(v[0], v[1], v[2], v[3])
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{
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}
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void Zero()
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{
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Z = Y = X = W = 0;
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}
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bool isZero() const
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{
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return X == 0 && Y == 0 && Z == 0 && W == 0;
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}
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TQuaternion &operator= (const TQuaternion &other) = default;
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// Access X and Y and Z as an array
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vec_t &operator[] (int index)
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{
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return (&X)[index];
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}
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const vec_t &operator[] (int index) const
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{
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return (&X)[index];
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}
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// Test for equality
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bool operator== (const TQuaternion &other) const
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{
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return X == other.X && Y == other.Y && Z == other.Z && W == other.W;
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}
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// Test for inequality
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bool operator!= (const TQuaternion &other) const
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{
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return X != other.X || Y != other.Y || Z != other.Z || W != other.W;
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}
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// returns the XY fields as a 2D-vector.
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const Vector2& XY() const
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{
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return *reinterpret_cast<const Vector2*>(this);
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}
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Vector2& XY()
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{
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return *reinterpret_cast<Vector2*>(this);
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}
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// returns the XY fields as a 2D-vector.
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const Vector3& XYZ() const
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{
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return *reinterpret_cast<const Vector3*>(this);
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}
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Vector3& XYZ()
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{
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return *reinterpret_cast<Vector3*>(this);
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}
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// Test for approximate equality
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bool ApproximatelyEquals(const TQuaternion &other) const
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{
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return fabs(X - other.X) < EQUAL_EPSILON && fabs(Y - other.Y) < EQUAL_EPSILON && fabs(Z - other.Z) < EQUAL_EPSILON && fabs(W - other.W) < EQUAL_EPSILON;
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}
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// Test for approximate inequality
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bool DoesNotApproximatelyEqual(const TQuaternion &other) const
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{
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return fabs(X - other.X) >= EQUAL_EPSILON || fabs(Y - other.Y) >= EQUAL_EPSILON || fabs(Z - other.Z) >= EQUAL_EPSILON || fabs(W - other.W) >= EQUAL_EPSILON;
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}
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// Unary negation
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TQuaternion operator- () const
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{
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return TQuaternion(-X, -Y, -Z, -W);
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}
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// Scalar addition
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TQuaternion &operator+= (vec_t scalar)
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{
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X += scalar, Y += scalar, Z += scalar; W += scalar;
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return *this;
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}
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friend TQuaternion operator+ (const TQuaternion &v, vec_t scalar)
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{
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return TQuaternion(v.X + scalar, v.Y + scalar, v.Z + scalar, v.W + scalar);
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}
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friend TQuaternion operator+ (vec_t scalar, const TQuaternion &v)
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{
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return TQuaternion(v.X + scalar, v.Y + scalar, v.Z + scalar, v.W + scalar);
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}
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// Scalar subtraction
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TQuaternion &operator-= (vec_t scalar)
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{
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X -= scalar, Y -= scalar, Z -= scalar, W -= scalar;
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return *this;
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}
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TQuaternion operator- (vec_t scalar) const
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{
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return TQuaternion(X - scalar, Y - scalar, Z - scalar, W - scalar);
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}
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// Scalar multiplication
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TQuaternion &operator*= (vec_t scalar)
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{
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X = vec_t(X *scalar), Y = vec_t(Y * scalar), Z = vec_t(Z * scalar), W = vec_t(W * scalar);
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return *this;
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}
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friend TQuaternion operator* (const TQuaternion &v, vec_t scalar)
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{
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return TQuaternion(v.X * scalar, v.Y * scalar, v.Z * scalar, v.W * scalar);
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}
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friend TQuaternion operator* (vec_t scalar, const TQuaternion &v)
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{
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return TQuaternion(v.X * scalar, v.Y * scalar, v.Z * scalar, v.W * scalar);
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}
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// Scalar division
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TQuaternion &operator/= (vec_t scalar)
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{
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scalar = 1 / scalar, X = vec_t(X * scalar), Y = vec_t(Y * scalar), Z = vec_t(Z * scalar), W = vec_t(W * scalar);
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return *this;
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}
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TQuaternion operator/ (vec_t scalar) const
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{
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scalar = 1 / scalar;
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return TQuaternion(X * scalar, Y * scalar, Z * scalar, W * scalar);
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}
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// Vector addition
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TQuaternion &operator+= (const TQuaternion &other)
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{
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X += other.X, Y += other.Y, Z += other.Z, W += other.W;
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return *this;
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}
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TQuaternion operator+ (const TQuaternion &other) const
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{
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return TQuaternion(X + other.X, Y + other.Y, Z + other.Z, W + other.W);
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}
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// Vector subtraction
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TQuaternion &operator-= (const TQuaternion &other)
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{
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X -= other.X, Y -= other.Y, Z -= other.Z, W -= other.W;
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return *this;
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}
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TQuaternion operator- (const TQuaternion &other) const
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{
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return TQuaternion(X - other.X, Y - other.Y, Z - other.Z, W - other.W);
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}
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// Quaternion length
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double Length() const
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{
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return g_sqrt(X*X + Y*Y + Z*Z + W*W);
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}
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double LengthSquared() const
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{
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return X*X + Y*Y + Z*Z + W*W;
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}
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double Sum() const
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{
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return abs(X) + abs(Y) + abs(Z) + abs(W);
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}
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// Return a unit vector facing the same direction as this one
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TQuaternion Unit() const
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{
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double len = Length();
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if (len != 0) len = 1 / len;
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return *this * (vec_t)len;
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}
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// Scales this vector into a unit vector
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void MakeUnit()
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{
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double len = Length();
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if (len != 0) len = 1 / len;
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*this *= (vec_t)len;
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}
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// Resizes this vector to be the specified length (if it is not 0)
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TQuaternion &MakeResize(double len)
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{
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double vlen = Length();
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if (vlen != 0.)
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{
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double scale = len / vlen;
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X = vec_t(X * scale);
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Y = vec_t(Y * scale);
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Z = vec_t(Z * scale);
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W = vec_t(W * scale);
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}
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return *this;
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}
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TQuaternion Resized(double len) const
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{
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double vlen = Length();
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if (vlen != 0.)
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{
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double scale = len / vlen;
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return{ vec_t(X * scale), vec_t(Y * scale), vec_t(Z * scale), vec_t(W * scale) };
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}
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else
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{
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return *this;
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}
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}
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// Dot product
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vec_t operator | (const TQuaternion &other) const
|
||||
{
|
||||
return X*other.X + Y*other.Y + Z*other.Z + W*other.W;
|
||||
}
|
||||
|
||||
vec_t dot(const TQuaternion &other) const
|
||||
{
|
||||
return X*other.X + Y*other.Y + Z*other.Z + W*other.W;
|
||||
}
|
||||
|
||||
TQuaternion& operator*= (const TQuaternion& q)
|
||||
{
|
||||
|
|
@ -1748,6 +2009,62 @@ public:
|
|||
r = q * r;
|
||||
return TVector3(r.X, r.Y, r.Z);
|
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}
|
||||
|
||||
TQuaternion<vec_t> Conjugate()
|
||||
{
|
||||
return TQuaternion(-X, -Y, -Z, +W);
|
||||
}
|
||||
TQuaternion<vec_t> Inverse()
|
||||
{
|
||||
return Conjugate() / LengthSquared();
|
||||
}
|
||||
|
||||
static TQuaternion<vec_t> AxisAngle(TVector3<vec_t> axis, TAngle<vec_t> angle)
|
||||
{
|
||||
auto lengthSquared = axis.LengthSquared();
|
||||
auto halfAngle = angle * 0.5;
|
||||
auto sinTheta = halfAngle.Sin();
|
||||
auto cosTheta = halfAngle.Cos();
|
||||
auto factor = sinTheta / g_sqrt(lengthSquared);
|
||||
TQuaternion<vec_t> ret;
|
||||
ret.W = cosTheta;
|
||||
ret.XYZ() = factor * axis;
|
||||
return ret;
|
||||
}
|
||||
static TQuaternion<vec_t> FromAngles(double yaw, double pitch, double roll)
|
||||
{
|
||||
auto zRotation = TQuaternion::AxisAngle(Vector3(vec_t{0.0}, vec_t{0.0}, vec_t{1.0}), TAngle<vec_t>::fromDeg(yaw));
|
||||
auto yRotation = TQuaternion::AxisAngle(Vector3(vec_t{0.0}, vec_t{1.0}, vec_t{0.0}), TAngle<vec_t>::fromDeg(pitch));
|
||||
auto xRotation = TQuaternion::AxisAngle(Vector3(vec_t{1.0}, vec_t{0.0}, vec_t{0.0}), TAngle<vec_t>::fromDeg(roll));
|
||||
return zRotation * yRotation * xRotation;
|
||||
}
|
||||
|
||||
static TQuaternion<vec_t> NLerp(TQuaternion<vec_t> from, TQuaternion<vec_t> to, vec_t t)
|
||||
{
|
||||
return (from * (vec_t{1.0} - t) + to * t).Unit();
|
||||
}
|
||||
static TQuaternion<vec_t> SLerp(TQuaternion<vec_t> from, TQuaternion<vec_t> to, vec_t t)
|
||||
{
|
||||
auto dot = from.dot(to);
|
||||
const auto dotThreshold = vec_t{0.9995};
|
||||
if (dot < vec_t{0.0})
|
||||
{
|
||||
to = -to;
|
||||
dot = -dot;
|
||||
}
|
||||
if (dot > dotThreshold)
|
||||
{
|
||||
return NLerp(from, to, t);
|
||||
}
|
||||
else
|
||||
{
|
||||
auto robustDot = clamp(dot, vec_t{-1.0}, vec_t{1.0});
|
||||
auto theta = TAngle<vec_t>::fromRad(g_acos(robustDot));
|
||||
auto scale0 = (theta * (vec_t{1.0} - t)).Sin();
|
||||
auto scale1 = (theta * t).Sin();
|
||||
return (from * scale0 + to * scale1).Unit();
|
||||
}
|
||||
}
|
||||
};
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -895,10 +895,13 @@ struct Translation version("2.4")
|
|||
// Convenient way to attach functions to Quat
|
||||
struct QuatStruct native
|
||||
{
|
||||
native static Quat SLerp(Quat from, Quat to, double f);
|
||||
native static Quat NLerp(Quat from, Quat to, double f);
|
||||
native static Quat FromEuler(double yaw, double pitch, double roll);
|
||||
native static Quat SLerp(Quat from, Quat to, double t);
|
||||
native static Quat NLerp(Quat from, Quat to, double t);
|
||||
native static Quat FromAngles(double yaw, double pitch, double roll);
|
||||
native static Quat AxisAngle(Vector3 xyz, double angle);
|
||||
native Quat Conjugate();
|
||||
native Quat Inverse();
|
||||
// native double Length();
|
||||
// native double LengthSquared();
|
||||
// native Quat Unit();
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue