mirror of
https://github.com/ZDoom/Raze.git
synced 2024-12-11 13:21:49 +00:00
352 lines
8 KiB
C++
352 lines
8 KiB
C++
#pragma once
|
|
|
|
#include "vectors.h"
|
|
|
|
template<typename vec_t>
|
|
class TQuaternion
|
|
{
|
|
public:
|
|
typedef TVector2<vec_t> Vector2;
|
|
typedef TVector3<vec_t> Vector3;
|
|
|
|
vec_t X, Y, Z, W;
|
|
|
|
TQuaternion() = default;
|
|
|
|
TQuaternion(vec_t x, vec_t y, vec_t z, vec_t w)
|
|
: X(x), Y(y), Z(z), W(w)
|
|
{
|
|
}
|
|
|
|
TQuaternion(vec_t *o)
|
|
: X(o[0]), Y(o[1]), Z(o[2]), W(o[3])
|
|
{
|
|
}
|
|
|
|
TQuaternion(const TQuaternion &other) = default;
|
|
|
|
TQuaternion(const Vector3 &v, vec_t s)
|
|
: X(v.X), Y(v.Y), Z(v.Z), W(s)
|
|
{
|
|
}
|
|
|
|
TQuaternion(const vec_t v[4])
|
|
: TQuaternion(v[0], v[1], v[2], v[3])
|
|
{
|
|
}
|
|
|
|
void Zero()
|
|
{
|
|
Z = Y = X = W = 0;
|
|
}
|
|
|
|
bool isZero() const
|
|
{
|
|
return X == 0 && Y == 0 && Z == 0 && W == 0;
|
|
}
|
|
|
|
TQuaternion &operator= (const TQuaternion &other) = default;
|
|
|
|
// Access X and Y and Z as an array
|
|
vec_t &operator[] (int index)
|
|
{
|
|
return (&X)[index];
|
|
}
|
|
|
|
const vec_t &operator[] (int index) const
|
|
{
|
|
return (&X)[index];
|
|
}
|
|
|
|
// Test for equality
|
|
bool operator== (const TQuaternion &other) const
|
|
{
|
|
return X == other.X && Y == other.Y && Z == other.Z && W == other.W;
|
|
}
|
|
|
|
// Test for inequality
|
|
bool operator!= (const TQuaternion &other) const
|
|
{
|
|
return X != other.X || Y != other.Y || Z != other.Z || W != other.W;
|
|
}
|
|
|
|
// returns the XY fields as a 2D-vector.
|
|
const Vector2& XY() const
|
|
{
|
|
return *reinterpret_cast<const Vector2*>(this);
|
|
}
|
|
|
|
Vector2& XY()
|
|
{
|
|
return *reinterpret_cast<Vector2*>(this);
|
|
}
|
|
|
|
// returns the XY fields as a 2D-vector.
|
|
const Vector3& XYZ() const
|
|
{
|
|
return *reinterpret_cast<const Vector3*>(this);
|
|
}
|
|
|
|
Vector3& XYZ()
|
|
{
|
|
return *reinterpret_cast<Vector3*>(this);
|
|
}
|
|
|
|
|
|
// Test for approximate equality
|
|
bool ApproximatelyEquals(const TQuaternion &other) const
|
|
{
|
|
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;
|
|
}
|
|
|
|
// Test for approximate inequality
|
|
bool DoesNotApproximatelyEqual(const TQuaternion &other) const
|
|
{
|
|
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;
|
|
}
|
|
|
|
// Unary negation
|
|
TQuaternion operator- () const
|
|
{
|
|
return TQuaternion(-X, -Y, -Z, -W);
|
|
}
|
|
|
|
// Scalar addition
|
|
TQuaternion &operator+= (vec_t scalar)
|
|
{
|
|
X += scalar, Y += scalar, Z += scalar; W += scalar;
|
|
return *this;
|
|
}
|
|
|
|
friend TQuaternion operator+ (const TQuaternion &v, vec_t scalar)
|
|
{
|
|
return TQuaternion(v.X + scalar, v.Y + scalar, v.Z + scalar, v.W + scalar);
|
|
}
|
|
|
|
friend TQuaternion operator+ (vec_t scalar, const TQuaternion &v)
|
|
{
|
|
return TQuaternion(v.X + scalar, v.Y + scalar, v.Z + scalar, v.W + scalar);
|
|
}
|
|
|
|
// Scalar subtraction
|
|
TQuaternion &operator-= (vec_t scalar)
|
|
{
|
|
X -= scalar, Y -= scalar, Z -= scalar, W -= scalar;
|
|
return *this;
|
|
}
|
|
|
|
TQuaternion operator- (vec_t scalar) const
|
|
{
|
|
return TQuaternion(X - scalar, Y - scalar, Z - scalar, W - scalar);
|
|
}
|
|
|
|
// Scalar multiplication
|
|
TQuaternion &operator*= (vec_t scalar)
|
|
{
|
|
X = vec_t(X *scalar), Y = vec_t(Y * scalar), Z = vec_t(Z * scalar), W = vec_t(W * scalar);
|
|
return *this;
|
|
}
|
|
|
|
friend TQuaternion operator* (const TQuaternion &v, vec_t scalar)
|
|
{
|
|
return TQuaternion(v.X * scalar, v.Y * scalar, v.Z * scalar, v.W * scalar);
|
|
}
|
|
|
|
friend TQuaternion operator* (vec_t scalar, const TQuaternion &v)
|
|
{
|
|
return TQuaternion(v.X * scalar, v.Y * scalar, v.Z * scalar, v.W * scalar);
|
|
}
|
|
|
|
// Scalar division
|
|
TQuaternion &operator/= (vec_t scalar)
|
|
{
|
|
scalar = 1 / scalar, X = vec_t(X * scalar), Y = vec_t(Y * scalar), Z = vec_t(Z * scalar), W = vec_t(W * scalar);
|
|
return *this;
|
|
}
|
|
|
|
TQuaternion operator/ (vec_t scalar) const
|
|
{
|
|
scalar = 1 / scalar;
|
|
return TQuaternion(X * scalar, Y * scalar, Z * scalar, W * scalar);
|
|
}
|
|
|
|
// Vector addition
|
|
TQuaternion &operator+= (const TQuaternion &other)
|
|
{
|
|
X += other.X, Y += other.Y, Z += other.Z, W += other.W;
|
|
return *this;
|
|
}
|
|
|
|
TQuaternion operator+ (const TQuaternion &other) const
|
|
{
|
|
return TQuaternion(X + other.X, Y + other.Y, Z + other.Z, W + other.W);
|
|
}
|
|
|
|
// Vector subtraction
|
|
TQuaternion &operator-= (const TQuaternion &other)
|
|
{
|
|
X -= other.X, Y -= other.Y, Z -= other.Z, W -= other.W;
|
|
return *this;
|
|
}
|
|
|
|
TQuaternion operator- (const TQuaternion &other) const
|
|
{
|
|
return TQuaternion(X - other.X, Y - other.Y, Z - other.Z, W - other.W);
|
|
}
|
|
|
|
// Quaternion length
|
|
double Length() const
|
|
{
|
|
return g_sqrt(X*X + Y*Y + Z*Z + W*W);
|
|
}
|
|
|
|
double LengthSquared() const
|
|
{
|
|
return X*X + Y*Y + Z*Z + W*W;
|
|
}
|
|
|
|
double Sum() const
|
|
{
|
|
return abs(X) + abs(Y) + abs(Z) + abs(W);
|
|
}
|
|
|
|
|
|
// Return a unit vector facing the same direction as this one
|
|
TQuaternion Unit() const
|
|
{
|
|
double len = Length();
|
|
if (len != 0) len = 1 / len;
|
|
return *this * (vec_t)len;
|
|
}
|
|
|
|
// Scales this vector into a unit vector
|
|
void MakeUnit()
|
|
{
|
|
double len = Length();
|
|
if (len != 0) len = 1 / len;
|
|
*this *= (vec_t)len;
|
|
}
|
|
|
|
// Resizes this vector to be the specified length (if it is not 0)
|
|
TQuaternion &MakeResize(double len)
|
|
{
|
|
double vlen = Length();
|
|
if (vlen != 0.)
|
|
{
|
|
double scale = len / vlen;
|
|
X = vec_t(X * scale);
|
|
Y = vec_t(Y * scale);
|
|
Z = vec_t(Z * scale);
|
|
W = vec_t(W * scale);
|
|
}
|
|
return *this;
|
|
}
|
|
|
|
TQuaternion Resized(double len) const
|
|
{
|
|
double vlen = Length();
|
|
if (vlen != 0.)
|
|
{
|
|
double scale = len / vlen;
|
|
return{ vec_t(X * scale), vec_t(Y * scale), vec_t(Z * scale), vec_t(W * scale) };
|
|
}
|
|
else
|
|
{
|
|
return *this;
|
|
}
|
|
}
|
|
|
|
// Dot product
|
|
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)
|
|
{
|
|
*this = *this * q;
|
|
return *this;
|
|
}
|
|
|
|
friend TQuaternion<vec_t> operator* (const TQuaternion<vec_t>& q1, const TQuaternion<vec_t>& q2)
|
|
{
|
|
return TQuaternion(
|
|
q1.W * q2.X + q1.X * q2.W + q1.Y * q2.Z - q1.Z * q2.Y,
|
|
q1.W * q2.Y - q1.X * q2.Z + q1.Y * q2.W + q1.Z * q2.X,
|
|
q1.W * q2.Z + q1.X * q2.Y - q1.Y * q2.X + q1.Z * q2.W,
|
|
q1.W * q2.W - q1.X * q2.X - q1.Y * q2.Y - q1.Z * q2.Z
|
|
);
|
|
}
|
|
|
|
// Rotate Vector3 by Quaternion q
|
|
friend TVector3<vec_t> operator* (const TQuaternion<vec_t>& q, const TVector3<vec_t>& v)
|
|
{
|
|
auto r = TQuaternion({ v.X, v.Y, v.Z, 0 }) * TQuaternion({ -q.X, -q.Y, -q.Z, q.W });
|
|
r = q * r;
|
|
return TVector3(r.X, r.Y, r.Z);
|
|
}
|
|
|
|
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(TAngle<vec_t> yaw, TAngle<vec_t> pitch, TAngle<vec_t> roll)
|
|
{
|
|
auto zRotation = TQuaternion::AxisAngle(Vector3(vec_t{0.0}, vec_t{0.0}, vec_t{1.0}), yaw);
|
|
auto yRotation = TQuaternion::AxisAngle(Vector3(vec_t{0.0}, vec_t{1.0}, vec_t{0.0}), pitch);
|
|
auto xRotation = TQuaternion::AxisAngle(Vector3(vec_t{1.0}, vec_t{0.0}, vec_t{0.0}), 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();
|
|
}
|
|
}
|
|
};
|
|
|
|
typedef TQuaternion<float> FQuaternion;
|
|
typedef TQuaternion<double> DQuaternion;
|