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Merge pull request #112 from SHADE-DP/SP3-16-Math 

SP3-16 Quaternions
NEW

Added implementations for Quaternion LookRotation, FromToRotation, Slerp, Lerp and RotateTowards
Transform now stores orientations instead of euler angle rotations. Transform Component interface unchanged.
Added Orientation getters and setters to Transform Component.
This commit is contained in:
XiaoQiDigipen 2022-10-23 20:07:17 +08:00 committed by GitHub
parent 5f73e8d1c0 57f9898e07
commit 23b8b66297
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
21 changed files with 645 additions and 299 deletions
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4
SHADE_Application/src/Application/SBApplication.cpp
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@ -83,11 +83,13 @@ namespace Sandbox
SHSystemManager::RegisterRoutine<SHScriptEngine, SHScriptEngine::LateUpdateRoutine>();
SHSystemManager::RegisterRoutine<SHScriptEngine, SHScriptEngine::FrameCleanUpRoutine>();
SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostLogicUpdate>();
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPreUpdate>();
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsFixedUpdate>();
SHSystemManager::RegisterRoutine<SHPhysicsSystem, SHPhysicsSystem::PhysicsPostUpdate>();
SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformUpdateRoutine>();
SHSystemManager::RegisterRoutine<SHTransformSystem, SHTransformSystem::TransformPostPhysicsUpdate>();
SHSystemManager::RegisterRoutine<SHGraphicsSystem, SHGraphicsSystem::BatcherDispatcherRoutine>();
SHSystemManager::RegisterRoutine<SHGraphicsSystem, SHGraphicsSystem::BeginRoutine>();

14
SHADE_Application/src/Scenes/SBTestScene.cpp
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@ -67,9 +67,9 @@ namespace Sandbox
customMat->SetProperty("data.alpha", 0.1f);
// Create Stress Test Objects
static const SHVec3 TEST_OBJ_SCALE = SHVec3::One * 0.5f;
constexpr int NUM_ROWS = 0;
constexpr int NUM_COLS = 0;
static const SHVec3 TEST_OBJ_SCALE = SHVec3::One;
constexpr int NUM_ROWS = 3;
constexpr int NUM_COLS = 1;
static const SHVec3 TEST_OBJ_SPACING = { 0.1f, 0.1f, 0.1f };
static const SHVec3 TEST_OBJ_START_POS = { -(NUM_COLS / 2 * TEST_OBJ_SPACING.x) + 1.0f, -2.0f, -1.0f };
@ -91,13 +91,13 @@ namespace Sandbox
//Set initial positions
transform.SetWorldPosition(TEST_OBJ_START_POS + SHVec3{ x * TEST_OBJ_SPACING.x, y * TEST_OBJ_SPACING.y, SHMath::GenerateRandomNumber(-3.5f, -5.0f) });
//transform.SetWorldPosition({-1.0f, -1.0f, -1.0f});
transform.SetWorldRotation(SHMath::GenerateRandomNumber(), SHMath::GenerateRandomNumber(), SHMath::GenerateRandomNumber());
transform.SetWorldRotation(SHMath::GenerateRandomNumber(0.0f, 360.0f), SHMath::GenerateRandomNumber(0.0f, 360.0f), SHMath::GenerateRandomNumber(0.0f, 360.0f));
transform.SetWorldScale(TEST_OBJ_SCALE);
if (const bool IS_EVEN = (y * NUM_ROWS + x) % 2; IS_EVEN)
//if (const bool IS_EVEN = (y * NUM_ROWS + x) % 2; IS_EVEN)
collider.AddBoundingBox(SHVec3::One * 0.5f, SHVec3::Zero);
else
collider.AddBoundingSphere(0.5f, SHVec3::Zero);
//else
// collider.AddBoundingSphere(0.5f, SHVec3::Zero);
stressTestObjects.emplace_back(entity);
}

11
SHADE_Engine/src/Events/SHEventDefines.h
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@ -5,8 +5,9 @@ typedef uint32_t SHEventIdentifier;
typedef uint32_t SHEventHandle;
//Add your event identifiers here:
constexpr SHEventIdentifier SH_EXAMPLE_EVENT{0};
constexpr SHEventIdentifier SH_ENTITY_DESTROYED_EVENT{ 1 };
constexpr SHEventIdentifier SH_ENTITY_CREATION_EVENT{ 2 };
constexpr SHEventIdentifier SH_COMPONENT_ADDED_EVENT{ 3 };
constexpr SHEventIdentifier SH_COMPONENT_REMOVED_EVENT{ 4 };
constexpr SHEventIdentifier SH_EXAMPLE_EVENT { 0 };
constexpr SHEventIdentifier SH_ENTITY_DESTROYED_EVENT { 1 };
constexpr SHEventIdentifier SH_ENTITY_CREATION_EVENT { 2 };
constexpr SHEventIdentifier SH_COMPONENT_ADDED_EVENT { 3 };
constexpr SHEventIdentifier SH_COMPONENT_REMOVED_EVENT { 4 };
constexpr SHEventIdentifier SH_SCENEGRAPH_CHANGE_PARENT_EVENT { 5 };

81
SHADE_Engine/src/Math/SHMatrix.cpp
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@ -295,32 +295,33 @@ namespace SHADE
) != 0;
}
SHMatrix::operator XMMATRIX() const noexcept
{
return XMLoadFloat4x4(this);
}
SHMatrix operator*(float lhs, const SHMatrix& rhs) noexcept
{
return rhs * lhs;
}
/*-----------------------------------------------------------------------------------*/
/* Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
void SHMatrix::Transpose() noexcept
{
const XMMATRIX M = XMLoadFloat4x4(this);
XMStoreFloat4x4(this, XMMatrixTranspose(M));
XMStoreFloat4x4(this, XMMatrixTranspose(*this));
}
void SHMatrix::Invert() noexcept
{
const XMMATRIX M = XMLoadFloat4x4(this);
XMStoreFloat4x4(this, XMMatrixInverse(nullptr, M));
XMStoreFloat4x4(this, XMMatrixInverse(nullptr, *this));
}
float SHMatrix::Determinant() const noexcept
{
const XMMATRIX M = XMLoadFloat4x4(this);
return XMVectorGetX(XMMatrixDeterminant(M));
return XMVectorGetX(XMMatrixDeterminant(*this));
}
std::string SHMatrix::ToString() const noexcept
@ -337,9 +338,8 @@ namespace SHADE
bool SHMatrix::Decompose(SHVec3& translation, SHVec3& rotation, SHVec3& scale) const noexcept
{
XMVECTOR s, r, t;
const XMMATRIX M = XMLoadFloat4x4(this);
if (!XMMatrixDecompose(&s, &r, &t, M))
if (!XMMatrixDecompose(&s, &r, &t, *this))
return false;
SHQuaternion orientation;
@ -356,9 +356,8 @@ namespace SHADE
bool SHMatrix::Decompose(SHVec3& translation, SHQuaternion& orientation, SHVec3& scale) const noexcept
{
XMVECTOR s, r, t;
const XMMATRIX M = XMLoadFloat4x4(this);
if (!XMMatrixDecompose(&s, &r, &t, M))
if (!XMMatrixDecompose(&s, &r, &t, *this))
return false;
XMStoreFloat3(&scale, s);
@ -376,8 +375,7 @@ namespace SHADE
{
SHMatrix result;
const XMMATRIX M = XMLoadFloat4x4(&matrix);
XMStoreFloat4x4(&result, XMMatrixTranspose(M));
XMStoreFloat4x4(&result, XMMatrixTranspose(matrix));
return result;
}
@ -385,8 +383,7 @@ namespace SHADE
{
SHMatrix result;
const XMMATRIX M = XMLoadFloat4x4(&matrix);
XMStoreFloat4x4(&result, XMMatrixInverse(nullptr, M));
XMStoreFloat4x4(&result, XMMatrixInverse(nullptr, matrix));
return result;
}
@ -401,8 +398,8 @@ namespace SHADE
SHMatrix SHMatrix::Translate(const SHVec3& pos) noexcept
{
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixTranslation(pos.x, pos.y, pos.z));
XMStoreFloat4x4(&result, XMMatrixTranslation(pos.x, pos.y, pos.z));
return result;
}
@ -410,25 +407,23 @@ namespace SHADE
{
SHMatrix result;
const XMVECTOR A = XMLoadFloat3(&axis);
XMStoreFloat4x4(&result, XMMatrixRotationAxis(A, angleInRad));
XMStoreFloat4x4(&result, XMMatrixRotationAxis(axis, angleInRad));
return result;
}
SHMatrix SHMatrix::Rotate(float yaw, float pitch, float roll) noexcept
{
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixRotationRollPitchYaw(pitch, yaw, roll));
XMStoreFloat4x4(&result, XMMatrixRotationRollPitchYaw(pitch, yaw, roll));
return result;
}
SHMatrix SHMatrix::Rotate(const SHVec3& eulerAngles) noexcept
{
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixRotationRollPitchYaw(eulerAngles.x, eulerAngles.y, eulerAngles.z));
XMStoreFloat4x4(&result, XMMatrixRotationRollPitchYawFromVector(eulerAngles));
return result;
}
@ -436,57 +431,55 @@ namespace SHADE
{
SHMatrix result;
const XMVECTOR Q = XMLoadFloat4(&q);
XMStoreFloat4x4(&result, XMMatrixRotationQuaternion(Q));
XMStoreFloat4x4(&result, XMMatrixRotationQuaternion(q));
return result;
}
SHMatrix SHMatrix::RotateX(float angleInRad) noexcept
{
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixRotationX(angleInRad));
XMStoreFloat4x4(&result, XMMatrixRotationX(angleInRad));
return result;
}
SHMatrix SHMatrix::RotateY(float angleInRad) noexcept
{
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixRotationY(angleInRad));
XMStoreFloat4x4(&result, XMMatrixRotationY(angleInRad));
return result;
}
SHMatrix SHMatrix::RotateZ(float angleInRad) noexcept
{
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixRotationZ(angleInRad));
XMStoreFloat4x4(&result, XMMatrixRotationZ(angleInRad));
return result;
}
SHMatrix SHMatrix::Scale(float uniformScaleFactor) noexcept
{
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixScaling(uniformScaleFactor, uniformScaleFactor, uniformScaleFactor));
XMStoreFloat4x4(&result, XMMatrixScaling(uniformScaleFactor, uniformScaleFactor, uniformScaleFactor));
return result;
}
SHMatrix SHMatrix::Scale(float x, float y, float z) noexcept
{
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixScaling(x, y, z));
XMStoreFloat4x4(&result, XMMatrixScaling(x, y, z));
return result;
}
SHMatrix SHMatrix::Scale(const SHVec3& scale) noexcept
{
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixScaling(scale.x, scale.y, scale.z));
XMStoreFloat4x4(&result, XMMatrixScalingFromVector(scale));
return result;
}
@ -494,12 +487,7 @@ namespace SHADE
{
SHMatrix result;
const XMVECTOR EYE = XMLoadFloat3(&eye);
const XMVECTOR TGT = XMLoadFloat3(&target);
const XMVECTOR UP = XMLoadFloat3(&up);
XMStoreFloat4x4(&result, XMMatrixLookAtRH(EYE, TGT, UP));
XMStoreFloat4x4(&result, XMMatrixLookAtRH(eye, target, up));
return result;
}
@ -507,12 +495,7 @@ namespace SHADE
{
SHMatrix result;
const XMVECTOR EYE = XMLoadFloat3(&eye);
const XMVECTOR TGT = XMLoadFloat3(&target);
const XMVECTOR UP = XMLoadFloat3(&up);
XMStoreFloat4x4(&result, XMMatrixLookAtLH(EYE, TGT, UP));
XMStoreFloat4x4(&result, XMMatrixLookAtLH(eye, target, up));
return result;
}
@ -522,8 +505,8 @@ namespace SHADE
const SHVec3 FWD_HAT = SHVec3::Normalise(-forward);
const XMVECTOR Z_HAT = XMVector3Normalize(XMLoadFloat3(&FWD_HAT));
const XMVECTOR X_HAT = XMVector3Normalize(XMVector3Cross(XMLoadFloat3(&up), Z_HAT));
const XMVECTOR Z_HAT = XMVector3Normalize(FWD_HAT);
const XMVECTOR X_HAT = XMVector3Normalize(XMVector3Cross(up, Z_HAT));
const XMVECTOR Y_HAT = XMVector3Cross(Z_HAT, X_HAT);
XMStoreFloat3(reinterpret_cast<XMFLOAT3*>(&result._11), X_HAT);
@ -543,8 +526,8 @@ namespace SHADE
const SHVec3 FWD_HAT = SHVec3::Normalise(forward);
const XMVECTOR Z_HAT = XMVector3Normalize(XMLoadFloat3(&FWD_HAT));
const XMVECTOR X_HAT = XMVector3Normalize(XMVector3Cross(XMLoadFloat3(&up), Z_HAT));
const XMVECTOR Z_HAT = XMVector3Normalize(FWD_HAT);
const XMVECTOR X_HAT = XMVector3Normalize(XMVector3Cross(up, Z_HAT));
const XMVECTOR Y_HAT = XMVector3Cross(Z_HAT, X_HAT);
XMStoreFloat3(reinterpret_cast<XMFLOAT3*>(&result._11), X_HAT);
@ -563,7 +546,6 @@ namespace SHADE
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixPerspectiveFovRH(fov, aspectRatio, nearPlane, farPlane));
return result;
}
@ -572,7 +554,6 @@ namespace SHADE
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixPerspectiveFovLH(fov, aspectRatio, nearPlane, farPlane));
return result;
}
@ -581,7 +562,6 @@ namespace SHADE
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixPerspectiveRH(width, height, nearPlane, farPlane));
return result;
}
@ -590,7 +570,6 @@ namespace SHADE
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixPerspectiveLH(width, height, nearPlane, farPlane));
return result;
}
@ -599,7 +578,6 @@ namespace SHADE
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixOrthographicRH(width, height, nearPlane, farPlane));
return result;
}
@ -608,7 +586,6 @@ namespace SHADE
SHMatrix result;
XMStoreFloat4x4(&result, XMMatrixOrthographicLH(width, height, nearPlane, farPlane));
return result;
}

2
SHADE_Engine/src/Math/SHMatrix.h
View File

@ -77,6 +77,8 @@ namespace SHADE
SHMatrix& operator= (const SHMatrix& rhs) = default;
SHMatrix& operator= (SHMatrix&& rhs) = default;
operator DirectX::XMMATRIX () const noexcept;
SHMatrix& operator+= (const SHMatrix& rhs) noexcept;
SHMatrix& operator-= (const SHMatrix& rhs) noexcept;
SHMatrix& operator*= (const SHMatrix& rhs) noexcept;

303
SHADE_Engine/src/Math/SHQuaternion.cpp
View File

@ -36,44 +36,18 @@ namespace SHADE
: XMFLOAT4( 0.0f, 0.0f, 0.0f, 1.0f )
{}
SHQuaternion::SHQuaternion(const SHVec4& vec4) noexcept
: XMFLOAT4( vec4.x, vec4.y, vec4.z, vec4.w )
{}
SHQuaternion::SHQuaternion(float _x, float _y, float _z, float _w) noexcept
: XMFLOAT4( _x, _y, _z, _w )
{}
SHQuaternion::SHQuaternion(float yaw, float pitch, float roll) noexcept
: XMFLOAT4( 0.0f, 0.0f, 0.0f, 1.0f )
{
XMStoreFloat4(this, XMQuaternionRotationRollPitchYaw(pitch, yaw, roll));
}
SHQuaternion::SHQuaternion(const SHVec3& eulerAngles) noexcept
: XMFLOAT4( 0.0f, 0.0f, 0.0f, 1.0f )
{
const XMVECTOR V = XMLoadFloat3(&eulerAngles);
XMStoreFloat4(this, XMQuaternionRotationRollPitchYawFromVector(V));
}
SHQuaternion::SHQuaternion(const SHVec3& axis, float angleInRad) noexcept
: XMFLOAT4( 0.0f, 0.0f, 0.0f, 1.0f )
{
const XMVECTOR AXIS = XMLoadFloat3(&axis);
XMStoreFloat4(this, XMQuaternionRotationAxis(AXIS, angleInRad));
}
SHQuaternion::SHQuaternion(const SHMatrix& rotationMatrix) noexcept
: XMFLOAT4( 0.0f, 0.0f, 0.0f, 1.0f )
{
const XMMATRIX M = XMLoadFloat4x4(&rotationMatrix);
XMStoreFloat4(this, XMQuaternionRotationMatrix(M));
}
SHQuaternion::SHQuaternion(const reactphysics3d::Vector3& rp3dEuler) noexcept
: XMFLOAT4( 0.0f, 0.0f, 0.0f, 1.0f )
{
const SHVec3& SHADE_VEC{ rp3dEuler };
const XMVECTOR V = XMLoadFloat3(&SHADE_VEC);
XMStoreFloat4(this, XMQuaternionRotationRollPitchYawFromVector(V));
XMStoreFloat4(this, XMQuaternionRotationRollPitchYawFromVector(SHVec3 { rp3dEuler }));
}
SHQuaternion::SHQuaternion(const reactphysics3d::Quaternion& rp3dQuat) noexcept
@ -113,10 +87,7 @@ namespace SHADE
{
SHQuaternion result;
const XMVECTOR Q1 = XMLoadFloat4(this);
const XMVECTOR Q2 = XMLoadFloat4(&rhs);
XMStoreFloat4(&result, XMVectorAdd(Q1, Q2));
XMStoreFloat4(&result, XMVectorAdd(*this, rhs));
return result;
}
@ -124,10 +95,7 @@ namespace SHADE
{
SHQuaternion result;
const XMVECTOR Q1 = XMLoadFloat4(this);
const XMVECTOR Q2 = XMLoadFloat4(&rhs);
XMStoreFloat4(&result, XMVectorSubtract(Q1, Q2));
XMStoreFloat4(&result, XMVectorSubtract(*this, rhs));
return result;
}
@ -135,9 +103,7 @@ namespace SHADE
{
SHQuaternion result;
const XMVECTOR Q = XMLoadFloat4(this);
XMStoreFloat4(&result, XMVectorNegate(Q));
XMStoreFloat4(&result, XMVectorNegate(*this));
return result;
}
@ -145,10 +111,7 @@ namespace SHADE
{
SHQuaternion result;
const XMVECTOR Q1 = XMLoadFloat4(this);
const XMVECTOR Q2 = XMLoadFloat4(&rhs);
XMStoreFloat4(&result, XMQuaternionMultiply(Q1, Q2));
XMStoreFloat4(&result, XMQuaternionMultiply(*this, rhs));
return result;
}
@ -156,9 +119,7 @@ namespace SHADE
{
SHQuaternion result;
const XMVECTOR Q = XMLoadFloat4(this);
XMStoreFloat4(&result, XMVectorScale(Q, rhs));
XMStoreFloat4(&result, XMVectorScale(*this, rhs));
return result;
}
@ -166,27 +127,18 @@ namespace SHADE
{
SHQuaternion result;
const XMVECTOR Q1 = XMLoadFloat4(this);
const XMVECTOR Q2 = XMQuaternionInverse(XMLoadFloat4(&rhs));
XMStoreFloat4(&result, XMQuaternionMultiply(Q1, Q2));
XMStoreFloat4(&result, XMQuaternionMultiply(*this, XMQuaternionInverse(rhs)));
return result;
}
bool SHQuaternion::operator==(const SHQuaternion& rhs) const noexcept
{
const XMVECTOR Q1 = XMLoadFloat4(this);
const XMVECTOR Q2 = XMLoadFloat4(&rhs);
return XMQuaternionEqual(Q1, Q2);
return XMQuaternionEqual(*this, rhs);
}
bool SHQuaternion::operator!=(const SHQuaternion& rhs) const noexcept
{
const XMVECTOR Q1 = XMLoadFloat4(this);
const XMVECTOR Q2 = XMLoadFloat4(&rhs);
return XMQuaternionNotEqual(Q1, Q2);
return XMQuaternionNotEqual(*this, rhs);
}
SHQuaternion::operator reactphysics3d::Quaternion() const noexcept
@ -199,6 +151,11 @@ namespace SHADE
return reactphysics3d::Vector3{ ToEuler() };
}
SHQuaternion::operator XMVECTOR() const noexcept
{
return XMLoadFloat4(this);
}
SHQuaternion operator*(float lhs, const SHQuaternion& rhs) noexcept
{
return rhs * lhs;
@ -213,8 +170,7 @@ namespace SHADE
XMVECTOR axis;
float angle;
const XMVECTOR Q = XMLoadFloat4(this);
XMQuaternionToAxisAngle(&axis, &angle, Q);
XMQuaternionToAxisAngle(&axis, &angle, *this);
return angle;
}
@ -223,8 +179,7 @@ namespace SHADE
XMVECTOR axis;
float angle;
const XMVECTOR Q = XMLoadFloat4(this);
XMQuaternionToAxisAngle(&axis, &angle, Q);
XMQuaternionToAxisAngle(&axis, &angle, *this);
return SHVec4{XMVectorGetX(axis), XMVectorGetY(axis), XMVectorGetZ(axis), angle};
@ -238,64 +193,49 @@ namespace SHADE
void SHQuaternion::Invert() noexcept
{
const XMVECTOR Q = XMLoadFloat4(this);
XMStoreFloat4(this, XMQuaternionInverse(Q));
XMStoreFloat4(this, XMQuaternionInverse(*this));
}
float SHQuaternion::Length() const noexcept
{
const XMVECTOR Q = XMLoadFloat4(this);
return XMVectorGetX(XMQuaternionLength(Q));
return XMVectorGetX(XMQuaternionLength(*this));
}
float SHQuaternion::LengthSquared() const noexcept
{
const XMVECTOR Q = XMLoadFloat4(this);
return XMVectorGetX(XMQuaternionLengthSq(Q));
return XMVectorGetX(XMQuaternionLengthSq(*this));
}
float SHQuaternion::Dot(const SHQuaternion& rhs) const noexcept
{
const XMVECTOR Q1 = XMLoadFloat4(this);
const XMVECTOR Q2 = XMLoadFloat4(&rhs);
return XMVectorGetX(XMQuaternionDot(Q1, Q2));
}
SHQuaternion SHQuaternion::RotateTowards(const SHQuaternion&, float) const noexcept
{
SHQuaternion result;
// TODO (Diren)
return result;
return XMVectorGetX(XMQuaternionDot(*this, rhs));
}
SHVec3 SHQuaternion::ToEuler() const noexcept
{
const float xx = x * x;
const float yy = y * y;
const float zz = z * z;
const float XX = x * x;
const float YY = y * y;
const float ZZ = z * z;
const float m31 = 2.f * x * z + 2.f * y * w;
const float m32 = 2.f * y * z - 2.f * x * w;
const float m33 = 1.f - 2.f * xx - 2.f * yy;
const float M_31 = 2.f * x * z + 2.f * y * w;
const float M_32 = 2.f * y * z - 2.f * x * w;
const float M_33 = 1.f - 2.f * XX - 2.f * YY;
const float cy = sqrtf(m33 * m33 + m31 * m31);
const float cx = atan2f(-m32, cy);
if (cy > 16.0f * SHMath::EPSILON)
const float CY = sqrtf(M_33 * M_33 + M_31 * M_31);
const float CX = atan2f(-M_32, CY);
if (CY > 16.0f * SHMath::EPSILON)
{
const float m12 = 2.f * x * y + 2.f * z * w;
const float m22 = 1.f - 2.f * xx - 2.f * zz;
const float M_12 = 2.f * x * y + 2.f * z * w;
const float M_22 = 1.f - 2.f * XX - 2.f * ZZ;
return SHVec3(cx, atan2f(m31, m33), atan2f(m12, m22));
return SHVec3(CX, atan2f(M_31, M_33), atan2f(M_12, M_22));
}
else
{
const float m11 = 1.f - 2.f * yy - 2.f * zz;
const float m21 = 2.f * x * y - 2.f * z * w;
const float m11 = 1.f - 2.f * YY - 2.f * ZZ;
const float m21 = 2.f * x * y - 2.f * z * w;
return SHVec3(cx, 0.f, atan2f(-m21, m11));
return SHVec3(CX, 0.f, atan2f(-m21, m11));
}
}
@ -311,13 +251,43 @@ namespace SHADE
/* Static Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
SHQuaternion SHQuaternion::FromEuler(const SHVec3& eulerAngles) noexcept
{
SHQuaternion result;
XMStoreFloat4(&result, XMQuaternionRotationRollPitchYawFromVector(eulerAngles));
return result;
}
SHQuaternion SHQuaternion::FromPitchYawRoll(float pitch, float yaw, float roll) noexcept
{
SHQuaternion result;
XMStoreFloat4(&result, XMQuaternionRotationRollPitchYaw(pitch, yaw, roll));
return result;
}
SHQuaternion SHQuaternion::FromAxisAngle(const SHVec3& axis, float angle) noexcept
{
SHQuaternion result;
XMStoreFloat4(&result, XMQuaternionRotationAxis(axis, angle));
return result;
}
SHQuaternion SHQuaternion::FromRotationMatrix(const SHMatrix& rotationMatrix) noexcept
{
SHQuaternion result;
XMStoreFloat4(&result, XMQuaternionRotationMatrix(rotationMatrix));
return result;
}
SHQuaternion SHQuaternion::Normalise(const SHQuaternion& q) noexcept
{
SHQuaternion result;
const XMVECTOR Q = XMLoadFloat4(&q);
XMStoreFloat4(&result, XMQuaternionNormalize(Q));
XMStoreFloat4(&result, XMQuaternionNormalize(q));
return result;
}
@ -325,9 +295,7 @@ namespace SHADE
{
SHQuaternion result;
const XMVECTOR Q = XMLoadFloat4(&q);
XMStoreFloat4(&result, XMQuaternionConjugate(Q));
XMStoreFloat4(&result, XMQuaternionConjugate(q));
return result;
}
@ -335,26 +303,37 @@ namespace SHADE
{
SHQuaternion result;
const XMVECTOR Q = XMLoadFloat4(&q);
XMStoreFloat4(&result, XMQuaternionInverse(Q));
XMStoreFloat4(&result, XMQuaternionInverse(q));
return result;
}
float SHQuaternion::Angle(const SHQuaternion&, const SHQuaternion&) noexcept
float SHQuaternion::Angle(const SHQuaternion& q1, const SHQuaternion& q2) noexcept
{
// TODO (Diren)
XMVECTOR R = XMQuaternionMultiply(XMQuaternionConjugate(q1), q2);
return 0.0f;
const float RS = XMVectorGetW(R);
R = XMVector3Length(R);
return 2.0f * atan2f(XMVectorGetX(R), RS);
}
SHQuaternion SHQuaternion::Lerp(const SHQuaternion&, const SHQuaternion&, float) noexcept
SHQuaternion SHQuaternion::Lerp(const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept
{
SHQuaternion result;
// TODO (Diren)
XMVECTOR R = XMVectorZero();
if (XMVector4GreaterOrEqual(XMVector4Dot(q1, q2), R))
{
R = XMVectorLerp(q1, q2, t);
}
else
{
const XMVECTOR X0 = XMVectorMultiply(q1, XMVectorReplicate(1.f - t));
const XMVECTOR X1 = XMVectorMultiply(q2, XMVectorReplicate(t));
R = XMVectorSubtract(X0, X1);
}
XMStoreFloat4(&result, XMQuaternionNormalize(R));
return result;
}
@ -362,19 +341,105 @@ namespace SHADE
{
SHQuaternion result;
const XMVECTOR Q1 = XMLoadFloat4(&q1);
const XMVECTOR Q2 = XMLoadFloat4(&q2);
XMStoreFloat4(&result, XMQuaternionSlerp(Q1, Q2, t));
XMStoreFloat4(&result, XMQuaternionSlerp(q1, q2, t));
return result;
}
SHQuaternion SHQuaternion::Rotate(const SHVec3& , const SHVec3&) noexcept
SHQuaternion SHQuaternion::ClampedLerp(const SHQuaternion& q1, const SHQuaternion& q2, float t, float tMin, float tMax) noexcept
{
return Lerp(q1, q2, std::clamp(t, tMin, tMax));
}
SHQuaternion SHQuaternion::ClampedSlerp(const SHQuaternion& q1, const SHQuaternion& q2, float t, float tMin, float tMax) noexcept
{
return Slerp(q1, q2, std::clamp(t, tMin, tMax));
}
SHQuaternion SHQuaternion::FromToRotation(const SHVec3& from, const SHVec3& to) noexcept
{
// Melax, "The Shortest Arc Quaternion", Game Programming Gems
SHQuaternion result;
const XMVECTOR F = XMVector3Normalize(from);
const XMVECTOR T = XMVector3Normalize(to);
const float dot = XMVectorGetX(XMVector3Dot(F, T));
if (dot >= 1.f)
{
result = Identity;
}
else if (dot <= -1.f)
{
XMVECTOR axis = XMVector3Cross(F, SHVec3::Right);
if (XMVector3NearEqual(XMVector3LengthSq(axis), g_XMZero, g_XMEpsilon))
{
axis = XMVector3Cross(F, SHVec3::Up);
}
const XMVECTOR Q = XMQuaternionRotationAxis(axis, XM_PI);
XMStoreFloat4(&result, Q);
}
else
{
const XMVECTOR C = XMVector3Cross(F, T);
XMStoreFloat4(&result, C);
const float s = sqrtf((1.f + dot) * 2.f);
result.x /= s;
result.y /= s;
result.z /= s;
result.w = s * 0.5f;
}
return result;
}
SHQuaternion SHQuaternion::LookRotation(const SHVec3& forward, const SHVec3& up) noexcept
{
SHQuaternion result;
// TODO (Diren)
const SHQuaternion Q1 = FromToRotation(SHVec3::Forward, forward);
const XMVECTOR C = XMVector3Cross(forward, up);
if (XMVector3NearEqual(XMVector3LengthSq(C), g_XMZero, g_XMEpsilon))
{
// forward and up are co-linear
return Q1;
}
SHVec3 qU;
XMStoreFloat3(&qU, XMQuaternionMultiply(Q1, SHVec3::Up));
const SHQuaternion Q2 = FromToRotation(qU, up);
XMStoreFloat4(&result, XMQuaternionMultiply(Q2, Q1));
return result;
}
SHQuaternion SHQuaternion::RotateTowards(const SHQuaternion& from, const SHQuaternion& to, float maxAngleInRad) noexcept
{
SHQuaternion result;
// We can use the conjugate here instead of inverse assuming q1 & q2 are normalized.
const XMVECTOR R = XMQuaternionMultiply(XMQuaternionConjugate(from), to);
const float RS = XMVectorGetW(R);
const XMVECTOR L = XMVector3Length(R);
const float angle = 2.f * atan2f(XMVectorGetX(L), RS);
if (angle > maxAngleInRad)
{
const XMVECTOR delta = XMQuaternionRotationAxis(R, maxAngleInRad);
const XMVECTOR Q = XMQuaternionMultiply(delta, from);
XMStoreFloat4(&result, Q);
}
else
{
// Don't overshoot.
result = to;
}
return result;
}

42
SHADE_Engine/src/Math/SHQuaternion.h
View File

@ -49,11 +49,8 @@ namespace SHADE
SHQuaternion (SHQuaternion&& rhs) = default;
SHQuaternion () noexcept;
SHQuaternion (const SHVec4& vec4) noexcept;
SHQuaternion (float x, float y, float z, float w) noexcept;
SHQuaternion (float yaw, float pitch, float roll) noexcept;
SHQuaternion (const SHVec3& eulerAngles) noexcept;
SHQuaternion (const SHVec3& axis, float angleInRad) noexcept;
SHQuaternion (const SHMatrix& rotationMatrix) noexcept;
// Conversion from other math types
@ -87,6 +84,7 @@ namespace SHADE
operator reactphysics3d::Quaternion () const noexcept;
operator reactphysics3d::Vector3 () const noexcept;
operator DirectX::XMVECTOR () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Getter Functions */
@ -99,29 +97,37 @@ namespace SHADE
/* Function Members */
/*---------------------------------------------------------------------------------*/
void Invert () noexcept;
void Invert () noexcept;
[[nodiscard]] float Length () const noexcept;
[[nodiscard]] float LengthSquared () const noexcept;
[[nodiscard]] float Dot (const SHQuaternion& rhs) const noexcept;
[[nodiscard]] SHQuaternion RotateTowards (const SHQuaternion& target, float maxAngleInRad) const noexcept;
[[nodiscard]] float Length () const noexcept;
[[nodiscard]] float LengthSquared () const noexcept;
[[nodiscard]] float Dot (const SHQuaternion& rhs) const noexcept;
[[nodiscard]] SHVec3 ToEuler () const noexcept;
[[nodiscard]] std::string ToString () const noexcept;
[[nodiscard]] SHVec3 ToEuler () const noexcept;
[[nodiscard]] std::string ToString () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Static Function Members */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] static SHQuaternion Normalise (const SHQuaternion& q) noexcept;
[[nodiscard]] static SHQuaternion Conjugate (const SHQuaternion& q) noexcept;
[[nodiscard]] static SHQuaternion Inverse (const SHQuaternion& q) noexcept;
[[nodiscard]] static float Angle (const SHQuaternion& q1, const SHQuaternion& q2) noexcept;
[[nodiscard]] static SHQuaternion FromEuler (const SHVec3& eulerAngles) noexcept;
[[nodiscard]] static SHQuaternion FromPitchYawRoll (float pitch, float yaw, float roll) noexcept;
[[nodiscard]] static SHQuaternion FromAxisAngle (const SHVec3& axis, float angle) noexcept;
[[nodiscard]] static SHQuaternion FromRotationMatrix(const SHMatrix& rotationMatrix) noexcept;
[[nodiscard]] static SHQuaternion Lerp (const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept;
[[nodiscard]] static SHQuaternion Slerp (const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept;
[[nodiscard]] static SHQuaternion Normalise (const SHQuaternion& q) noexcept;
[[nodiscard]] static SHQuaternion Conjugate (const SHQuaternion& q) noexcept;
[[nodiscard]] static SHQuaternion Inverse (const SHQuaternion& q) noexcept;
[[nodiscard]] static float Angle (const SHQuaternion& q1, const SHQuaternion& q2) noexcept;
[[nodiscard]] static SHQuaternion Rotate (const SHVec3& from, const SHVec3& to) noexcept;
[[nodiscard]] static SHQuaternion Lerp (const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept;
[[nodiscard]] static SHQuaternion Slerp (const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept;
[[nodiscard]] static SHQuaternion ClampedLerp (const SHQuaternion& q1, const SHQuaternion& q2, float t, float tMin = 0.0f, float tMax = 1.0f) noexcept;
[[nodiscard]] static SHQuaternion ClampedSlerp (const SHQuaternion& q1, const SHQuaternion& q2, float t, float tMin = 0.0f, float tMax = 1.0f) noexcept;
[[nodiscard]] static SHQuaternion FromToRotation (const SHVec3& from, const SHVec3& to) noexcept;
[[nodiscard]] static SHQuaternion LookRotation (const SHVec3& forward, const SHVec3& up) noexcept;
[[nodiscard]] static SHQuaternion RotateTowards (const SHQuaternion& from, const SHQuaternion& to, float maxAngleInRad) noexcept;
};
SHQuaternion operator*(float lhs, const SHQuaternion& rhs) noexcept;

18
SHADE_Engine/src/Math/Transform/SHTransform.cpp
View File

@ -26,15 +26,15 @@ namespace SHADE
/*-----------------------------------------------------------------------------------*/
SHTransform::SHTransform() noexcept
: position { SHVec3::Zero }
, rotation { SHVec3::Zero }
, scale { SHVec3::One }
: position { SHVec3::Zero }
, orientation { SHQuaternion::Identity }
, scale { SHVec3::One }
{}
SHTransform::SHTransform(const SHVec3& pos, const SHVec3& rot, const SHVec3& scl) noexcept
: position { pos }
, rotation { rot }
, scale { scl }
: position { pos }
, orientation { SHQuaternion::FromEuler(rot) }
, scale { scl }
{}
/*-----------------------------------------------------------------------------------*/
@ -43,12 +43,12 @@ namespace SHADE
bool SHTransform::operator==(const SHTransform& rhs) const noexcept
{
return !(position != rhs.position || rotation != rhs.rotation || scale != rhs.scale);
return !(position != rhs.position || orientation != rhs.orientation || scale != rhs.scale);
}
bool SHTransform::operator!=(const SHTransform& rhs) const noexcept
{
return (position != rhs.position || rotation != rhs.rotation || scale != rhs.scale);
return (position != rhs.position || orientation != rhs.orientation || scale != rhs.scale);
}
/*-----------------------------------------------------------------------------------*/
@ -59,7 +59,7 @@ namespace SHADE
{
const SHMatrix T = SHMatrix::Translate(position);
const SHMatrix R = SHMatrix::Rotate(rotation);
const SHMatrix R = SHMatrix::Rotate(orientation);
const SHMatrix S = SHMatrix::Scale(scale);
trs = S * R * T;

22
SHADE_Engine/src/Math/Transform/SHTransform.h
View File

@ -12,8 +12,8 @@
// Project Headers
#include "SH_API.h"
#include "Math/Vector/SHVec2.h"
#include "Math/Vector/SHVec3.h"
#include "Math/SHQuaternion.h"
#include "Math/SHMatrix.h"
namespace SHADE
@ -31,22 +31,23 @@ namespace SHADE
static const SHTransform Identity;
SHVec3 position;
SHVec3 rotation;
SHVec3 scale;
SHVec3 position;
SHQuaternion orientation;
SHVec3 scale;
SHMatrix trs;
SHMatrix trs;
/*---------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*---------------------------------------------------------------------------------*/
SHTransform (const SHTransform&) = default;
SHTransform (SHTransform&&) = default;
~SHTransform () = default;
SHTransform (const SHTransform&) = default;
SHTransform (SHTransform&&) = default;
~SHTransform () = default;
SHTransform () noexcept;
SHTransform (const SHVec3& pos, const SHVec3& rot, const SHVec3& scl) noexcept;
SHTransform () noexcept;
SHTransform (const SHVec3& pos, const SHVec3& rot, const SHVec3& scl) noexcept;
SHTransform (const SHVec3& pos, const SHQuaternion& quat, const SHVec3& scl) noexcept;
/*---------------------------------------------------------------------------------*/
/* Operator Overloads */
@ -63,7 +64,6 @@ namespace SHADE
/*---------------------------------------------------------------------------------*/
const SHMatrix& ComputeTRS();
};
} // namespace SHADE

54
SHADE_Engine/src/Math/Transform/SHTransformComponent.cpp
View File

@ -12,6 +12,8 @@
// Primary Header
#include "SHTransformComponent.h"
// Project Headers
#include "Math/SHMathHelpers.h"
namespace SHADE
{
@ -40,7 +42,12 @@ namespace SHADE
const SHVec3& SHTransformComponent::GetLocalRotation() const noexcept
{
return local.rotation;
return localRotation;
}
const SHQuaternion& SHTransformComponent::GetLocalOrientation() const noexcept
{
return local.orientation;
}
const SHVec3& SHTransformComponent::GetLocalScale() const noexcept
@ -55,7 +62,12 @@ namespace SHADE
const SHVec3& SHTransformComponent::GetWorldRotation() const noexcept
{
return world.rotation;
return worldRotation;
}
const SHQuaternion& SHTransformComponent::GetWorldOrientation() const noexcept
{
return world.orientation;
}
const SHVec3& SHTransformComponent::GetWorldScale() const noexcept
@ -91,16 +103,28 @@ namespace SHADE
void SHTransformComponent::SetLocalRotation(const SHVec3& newLocalRotation) noexcept
{
dirty = true;
local.rotation = newLocalRotation;
localRotation = newLocalRotation;
updateQueue.push({ UpdateCommandType::LOCAL_ROTATION, newLocalRotation });
}
void SHTransformComponent::SetLocalRotation(float pitch, float yaw, float roll) noexcept
{
dirty = true;
local.rotation.x = pitch;
local.rotation.y = yaw;
local.rotation.z = roll;
localRotation.x = pitch;
localRotation.y = yaw;
localRotation.z = roll;
updateQueue.push({ UpdateCommandType::LOCAL_ROTATION, SHVec3{pitch, yaw, roll} });
}
void SHTransformComponent::SetLocalOrientation(const SHQuaternion& newLocalOrientation) noexcept
{
dirty = true;
local.orientation = newLocalOrientation;
updateQueue.push({ UpdateCommandType::LOCAL_ORIENTATION, newLocalOrientation });
}
void SHTransformComponent::SetLocalScale(const SHVec3& newLocalScale) noexcept
@ -121,7 +145,7 @@ namespace SHADE
{
dirty = true;
world.rotation = newWorldRotation;
worldRotation = newWorldRotation;
updateQueue.push({ UpdateCommandType::WORLD_ROTATION, newWorldRotation });
}
@ -129,13 +153,21 @@ namespace SHADE
{
dirty = true;
world.rotation.x = pitch;
world.rotation.y = yaw;
world.rotation.z = roll;
worldRotation.x = pitch;
worldRotation.y = yaw;
worldRotation.z = roll;
updateQueue.push({ UpdateCommandType::WORLD_ROTATION, SHVec3{ pitch, yaw, roll} });
}
void SHTransformComponent::SetWorldOrientation(const SHQuaternion& newWorldOrientation) noexcept
{
dirty = true;
world.orientation = newWorldOrientation;
updateQueue.push({ UpdateCommandType::WORLD_ORIENTATION, newWorldOrientation });
}
void SHTransformComponent::SetWorldScale(const SHVec3& newWorldScale) noexcept
{
dirty = true;
@ -153,6 +185,6 @@ RTTR_REGISTRATION
registration::class_<SHTransformComponent>("Transform Component")
.property("Translate" , &SHTransformComponent::GetLocalPosition , &SHTransformComponent::SetLocalPosition )
.property("Rotate" , &SHTransformComponent::GetLocalRotation , select_overload<void(SHVec3 const&)>(&SHTransformComponent::SetLocalRotation) )
.property("Rotate" , &SHTransformComponent::GetLocalRotation , select_overload<void(const SHVec3&)>(&SHTransformComponent::SetLocalRotation) )
.property("Scale" , &SHTransformComponent::GetLocalScale , &SHTransformComponent::SetLocalScale );
}

56
SHADE_Engine/src/Math/Transform/SHTransformComponent.h
View File

@ -56,42 +56,52 @@ namespace SHADE
/* Getter Functions */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] bool HasChanged () const noexcept;
[[nodiscard]] bool HasChanged () const noexcept;
[[nodiscard]] const SHVec3& GetLocalPosition () const noexcept;
[[nodiscard]] const SHVec3& GetLocalRotation () const noexcept;
[[nodiscard]] const SHVec3& GetLocalScale () const noexcept;
[[nodiscard]] const SHVec3& GetWorldPosition () const noexcept;
[[nodiscard]] const SHVec3& GetWorldRotation () const noexcept;
[[nodiscard]] const SHVec3& GetWorldScale () const noexcept;
[[nodiscard]] const SHVec3& GetLocalPosition () const noexcept;
[[nodiscard]] const SHVec3& GetLocalRotation () const noexcept;
[[nodiscard]] const SHQuaternion& GetLocalOrientation () const noexcept;
[[nodiscard]] const SHVec3& GetLocalScale () const noexcept;
[[nodiscard]] const SHVec3& GetWorldPosition () const noexcept;
[[nodiscard]] const SHVec3& GetWorldRotation () const noexcept;
[[nodiscard]] const SHQuaternion& GetWorldOrientation () const noexcept;
[[nodiscard]] const SHVec3& GetWorldScale () const noexcept;
[[nodiscard]] const SHMatrix& GetLocalToWorld () const noexcept;
[[nodiscard]] SHMatrix GetWorldToLocal () const noexcept;
[[nodiscard]] const SHMatrix& GetLocalToWorld () const noexcept;
[[nodiscard]] SHMatrix GetWorldToLocal () const noexcept;
[[nodiscard]] const SHMatrix& GetTRS () const noexcept;
[[nodiscard]] const SHMatrix& GetTRS () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Setter Functions */
/*---------------------------------------------------------------------------------*/
void SetLocalPosition (const SHVec3& newLocalPosition) noexcept;
void SetLocalRotation (const SHVec3& newLocalRotation) noexcept;
void SetLocalRotation (float pitch, float yaw, float roll) noexcept;
void SetLocalScale (const SHVec3& newLocalScale) noexcept;
void SetWorldPosition (const SHVec3& newWorldPosition) noexcept;
void SetWorldRotation (const SHVec3& newWorldRotation) noexcept;
void SetWorldRotation (float pitch, float yaw, float roll) noexcept;
void SetWorldScale (const SHVec3& newWorldScale) noexcept;
void SetLocalPosition (const SHVec3& newLocalPosition) noexcept;
void SetLocalRotation (const SHVec3& newLocalRotation) noexcept;
void SetLocalRotation (float pitch, float yaw, float roll) noexcept;
void SetLocalOrientation (const SHQuaternion& newLocalOrientation) noexcept;
void SetLocalScale (const SHVec3& newLocalScale) noexcept;
void SetWorldPosition (const SHVec3& newWorldPosition) noexcept;
void SetWorldRotation (const SHVec3& newWorldRotation) noexcept;
void SetWorldRotation (float pitch, float yaw, float roll) noexcept;
void SetWorldOrientation (const SHQuaternion& newWorldOrientation) noexcept;
void SetWorldScale (const SHVec3& newWorldScale) noexcept;
private:
/*---------------------------------------------------------------------------------*/
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
// Differentiate between rotation and orientation for setters
// Setting a quaternion directly is different from using euler angle rotations.
enum class UpdateCommandType
{
WORLD_POSITION
LOCAL_ROTATION
, LOCAL_ORIENTATION
, WORLD_POSITION
, WORLD_ROTATION
, WORLD_ORIENTATION
, WORLD_SCALE
};
@ -103,7 +113,7 @@ namespace SHADE
/*-------------------------------------------------------------------------------*/
UpdateCommandType type;
SHVec3 data;
SHVec4 data;
};
using UpdateQueue = std::queue<UpdateCommand>;
@ -114,6 +124,12 @@ namespace SHADE
bool dirty;
// We store euler angle rotations separately to interface with transform quaternions.
// Reading quaternions are unreliable.
SHVec3 localRotation; // Stored in Radians
SHVec3 worldRotation; // Stored in Radians
SHTransform local; // Local TRS holds Local To World Transform
SHTransform world;

192
SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp
View File

@ -17,7 +17,8 @@
#include "Scene/SHSceneManager.h"
#include "ECS_Base/Managers/SHComponentManager.h"
#include "ECS_Base/Managers/SHEntityManager.h"
#include "Tools/SHException.h"
#include "ECS_Base/Managers/SHSystemManager.h"
#include "Math/SHMathHelpers.h"
namespace SHADE
{
@ -29,8 +30,12 @@ namespace SHADE
/* Constructors & Destructor Definitions */
/*-----------------------------------------------------------------------------------*/
SHTransformSystem::TransformUpdateRoutine::TransformUpdateRoutine()
: SHSystemRoutine { "Transform Update", true }
SHTransformSystem::TransformPostLogicUpdate::TransformPostLogicUpdate()
: SHSystemRoutine { "Transform Post-Logic Update", true }
{}
SHTransformSystem::TransformPostPhysicsUpdate::TransformPostPhysicsUpdate()
: SHSystemRoutine { "Transform Post-Physics Update", false }
{}
@ -38,16 +43,27 @@ namespace SHADE
/* Public Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
void SHTransformSystem::TransformUpdateRoutine::Execute(double) noexcept
void SHTransformSystem::TransformPostLogicUpdate::Execute(double) noexcept
{
// Get the current scene graph to traverse and update
const auto& SCENE_GRAPH = SHSceneManager::GetCurrentSceneGraph();
UpdateEntity(SCENE_GRAPH.GetRoot());
// TODO(Diren): Consider how to clear dirty in pause / stop mode and update physics, but do not clear in play mode.
UpdateEntity(SCENE_GRAPH.GetRoot(), false);
}
void SHTransformSystem::TransformPostPhysicsUpdate::Execute(double) noexcept
{
// Get the current scene graph to traverse and update
const auto& SCENE_GRAPH = SHSceneManager::GetCurrentSceneGraph();
UpdateEntity(SCENE_GRAPH.GetRoot(), true);
}
void SHTransformSystem::Init()
{
std::shared_ptr thisReceiver { std::make_shared<SHEventReceiverSpec<SHTransformSystem>>(this, &SHTransformSystem::ChangeParent) };
ReceiverPtr receiver = std::dynamic_pointer_cast<SHEventReceiver>(thisReceiver);
SHEventManager::SubscribeTo(SH_SCENEGRAPH_CHANGE_PARENT_EVENT, receiver);
}
void SHTransformSystem::Exit()
@ -59,7 +75,97 @@ namespace SHADE
/* Private Function Member Definitions */
/*-----------------------------------------------------------------------------------*/
void SHTransformSystem::UpdateEntity(const SHSceneNode* node)
SHEventHandle SHTransformSystem::ChangeParent(SHEventPtr changeParentEvent)
{
const auto& eventData = reinterpret_cast<const SHEventSpec<SHSceneGraphChangeParentEvent>*>(changeParentEvent.get());
auto* node = eventData->data->node;
auto* tf = SHComponentManager::GetComponent_s<SHTransformComponent>(node->GetEntityID());
// Recompute local transform and store localToWorld Matrix
SHMatrix localToWorld = SHMatrix::Identity;
SHMatrix worldToLocal = SHMatrix::Identity;
auto* newParent = eventData->data->newParent;
const auto* PARENT_TF = SHComponentManager::GetComponent_s<SHTransformComponent>(newParent->GetEntityID());
if (PARENT_TF != nullptr) // Not the root
{
localToWorld = PARENT_TF->GetTRS();
worldToLocal = SHMatrix::Inverse(localToWorld);
}
// Maintain World Transform and recompute Local Transform
// Compute Local Position
tf->local.position = SHVec3::Transform(tf->world.position, worldToLocal);
tf->localRotation = tf->worldRotation;
tf->local.scale = tf->world.scale;
if (PARENT_TF != nullptr)
{
// Compute Local Rotation
tf->localRotation -= PARENT_TF->GetLocalRotation();
// Compute Local Scale
tf->local.scale /= PARENT_TF->GetLocalScale();
}
tf->local.trs = localToWorld;
// Propagate maintaining world transform down the branch
UpdateChildrenLocalTransforms(node);
return eventData->handle;
}
void SHTransformSystem::UpdateChildrenLocalTransforms(SHSceneNode* node)
{
// Structure is similar to update entity, albeit without a queue to do being a forced update
for (const auto* child : node->GetChildren())
{
if (auto* childTransform = SHComponentManager::GetComponent_s<SHTransformComponent>(child->GetEntityID()); childTransform)
{
const bool IS_NODE_ACTIVE = child->IsActive();
if (IS_NODE_ACTIVE && childTransform->isActive)
{
// Recompute local transform and store localToWorld Matrix
SHMatrix localToWorld = SHMatrix::Identity;
SHMatrix worldToLocal = SHMatrix::Identity;
const auto* parent = SHComponentManager::GetComponent_s<SHTransformComponent>(node->GetEntityID());
if (parent != nullptr) // Not the root
{
localToWorld = parent->GetTRS();
worldToLocal = SHMatrix::Inverse(localToWorld);
}
// Maintain World Transform and recompute Local Transform
// Compute Local Position
childTransform->local.position = SHVec3::Transform(childTransform->world.position, worldToLocal);
childTransform->localRotation = childTransform->worldRotation;
childTransform->local.scale = childTransform->world.scale;
if (parent)
{
// Compute Local Rotation
childTransform->localRotation -= parent->GetLocalRotation();
// Compute Local Scale
childTransform->local.scale /= parent->GetLocalScale();
}
childTransform->local.trs = localToWorld;
}
}
}
}
void SHTransformSystem::UpdateEntity(const SHSceneNode* node, bool clearDirtyFlag)
{
const auto* NODE_TRANSFORM = SHComponentManager::GetComponent_s<SHTransformComponent>(node->GetEntityID());
const bool HAS_PARENT_CHANGED = NODE_TRANSFORM && NODE_TRANSFORM->dirty;
@ -74,14 +180,17 @@ namespace SHADE
if (IS_NODE_ACTIVE && childTransform->isActive)
{
if (childTransform->dirty || HAS_PARENT_CHANGED)
{
UpdateTransform(*childTransform, NODE_TRANSFORM);
childTransform->dirty = true;
}
}
}
UpdateEntity(child);
UpdateEntity(child, clearDirtyFlag);
// Clear dirty flag after all children are updated
if (childTransform)
if (childTransform && clearDirtyFlag)
childTransform->dirty = false;
}
}
@ -91,6 +200,8 @@ namespace SHADE
SHMatrix localToWorld = SHMatrix::Identity;
SHMatrix worldToLocal = SHMatrix::Identity;
bool convertRotation = true;
if (parent)
{
localToWorld = parent->GetTRS();
@ -103,22 +214,44 @@ namespace SHADE
switch (UPDATE_COMMAND.type)
{
case SHTransformComponent::UpdateCommandType::LOCAL_ROTATION:
{
convertRotation = true;
break;
}
case SHTransformComponent::UpdateCommandType::LOCAL_ORIENTATION:
{
convertRotation = false;
break;
}
case SHTransformComponent::UpdateCommandType::WORLD_POSITION:
{
tf.local.position = SHVec3::Transform(UPDATE_COMMAND.data, worldToLocal);
tf.local.position = SHVec3::Transform(UPDATE_COMMAND.data.ToVec3(), worldToLocal);
break;
}
case SHTransformComponent::UpdateCommandType::WORLD_ROTATION:
{
tf.local.rotation = tf.world.rotation;
tf.localRotation = UPDATE_COMMAND.data.ToVec3();
if (parent)
tf.local.rotation -= parent->GetLocalRotation();
tf.localRotation -= parent->GetLocalRotation();
convertRotation = true;
break;
}
case SHTransformComponent::UpdateCommandType::WORLD_ORIENTATION:
{
tf.local.orientation = UPDATE_COMMAND.data;
if (parent)
tf.local.orientation /= parent->GetLocalOrientation();
convertRotation = false;
break;
}
case SHTransformComponent::UpdateCommandType::WORLD_SCALE:
{
tf.local.scale = tf.world.scale;
tf.local.scale = UPDATE_COMMAND.data.ToVec3();
if (parent)
tf.local.scale /= parent->GetLocalScale();
@ -133,15 +266,38 @@ namespace SHADE
tf.local.trs = localToWorld;
// Compute world transforms
tf.world.position = SHVec3::Transform(tf.local.position, localToWorld);
tf.world.rotation = tf.local.rotation + (parent ? parent->GetLocalRotation() : SHVec3::Zero);
tf.world.scale = tf.local.scale * (parent ? parent->GetLocalScale() : SHVec3::One);
tf.world.ComputeTRS();
// Transpose TRS to column major
//tf.local.trs.Transpose();
//tf.world.trs.Transpose();
if (convertRotation)
{
tf.worldRotation = tf.localRotation + (parent ? parent->GetLocalRotation() : SHVec3::Zero);
// Set the orientation
// Wrap rotations between -360 and 360 and convert to radians
SHVec3 worldRotRad, localRotRad;
for (size_t i = 0; i < SHVec3::SIZE; ++i)
{
worldRotRad[i] = SHMath::Wrap(tf.worldRotation[i], -SHMath::TWO_PI, SHMath::TWO_PI);
localRotRad[i] = SHMath::Wrap(tf.localRotation[i], -SHMath::TWO_PI, SHMath::TWO_PI);
}
tf.world.orientation = SHQuaternion::FromEuler(worldRotRad);
tf.local.orientation = SHQuaternion::FromEuler(localRotRad);
}
else
{
tf.world.orientation = (parent ? parent->GetLocalOrientation() : SHQuaternion::Identity) * tf.local.orientation;
// Set the euler angle rotations
tf.worldRotation = tf.world.orientation.ToEuler();
tf.localRotation = tf.local.orientation.ToEuler();
}
tf.world.ComputeTRS();
}
} // namespace SHADE

48
SHADE_Engine/src/Math/Transform/SHTransformSystem.h
View File

@ -45,25 +45,52 @@ namespace SHADE
/* System Routines */
/*---------------------------------------------------------------------------------*/
class SH_API TransformUpdateRoutine final: public SHSystemRoutine
class SH_API TransformPostLogicUpdate final: public SHSystemRoutine
{
public:
/*-------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*-------------------------------------------------------------------------------*/
TransformUpdateRoutine ();
~TransformUpdateRoutine () = default;
TransformPostLogicUpdate ();
~TransformPostLogicUpdate () = default;
TransformUpdateRoutine (const TransformUpdateRoutine&) = delete;
TransformUpdateRoutine (TransformUpdateRoutine&&) = delete;
TransformPostLogicUpdate (const TransformPostLogicUpdate&) = delete;
TransformPostLogicUpdate (TransformPostLogicUpdate&&) = delete;
/*-------------------------------------------------------------------------------*/
/* Operator Overloads */
/*-------------------------------------------------------------------------------*/
TransformUpdateRoutine& operator= (const TransformUpdateRoutine&) = delete;
TransformUpdateRoutine& operator= (TransformUpdateRoutine&&) = delete;
TransformPostLogicUpdate& operator= (const TransformPostLogicUpdate&) = delete;
TransformPostLogicUpdate& operator= (TransformPostLogicUpdate&&) = delete;
/*-------------------------------------------------------------------------------*/
/* Function Members */
/*-------------------------------------------------------------------------------*/
void Execute(double dt) noexcept override;
};
class SH_API TransformPostPhysicsUpdate final: public SHSystemRoutine
{
public:
/*-------------------------------------------------------------------------------*/
/* Constructors & Destructor */
/*-------------------------------------------------------------------------------*/
TransformPostPhysicsUpdate ();
~TransformPostPhysicsUpdate () = default;
TransformPostPhysicsUpdate (const TransformPostPhysicsUpdate&) = delete;
TransformPostPhysicsUpdate (TransformPostPhysicsUpdate&&) = delete;
/*-------------------------------------------------------------------------------*/
/* Operator Overloads */
/*-------------------------------------------------------------------------------*/
TransformPostPhysicsUpdate& operator= (const TransformPostPhysicsUpdate&) = delete;
TransformPostPhysicsUpdate& operator= (TransformPostPhysicsUpdate&&) = delete;
/*-------------------------------------------------------------------------------*/
/* Function Members */
@ -84,8 +111,11 @@ namespace SHADE
/* Function Members */
/*---------------------------------------------------------------------------------*/
static void UpdateEntity (const SHSceneNode* node);
static void UpdateTransform(SHTransformComponent& tf, const SHTransformComponent* parent = nullptr);
SHEventHandle ChangeParent (SHEventPtr changeParentEvent);
static void UpdateChildrenLocalTransforms (SHSceneNode* node);
static void UpdateEntity (const SHSceneNode* node, bool clearDirtyFlag);
static void UpdateTransform (SHTransformComponent& tf, const SHTransformComponent* parent = nullptr);
};

9
SHADE_Engine/src/Math/Vector/SHVec4.cpp
View File

@ -38,6 +38,10 @@ namespace SHADE
: XMFLOAT4( 0.0f, 0.0f, 0.0f, 0.0f )
{}
SHVec4::SHVec4(const SHVec3& vec3) noexcept
: XMFLOAT4( vec3.x, vec3.y, vec3.z, 1.0f )
{}
SHVec4::SHVec4(const XMFLOAT4& xmfloat4) noexcept
: XMFLOAT4( xmfloat4.x, xmfloat4.y, xmfloat4.z, xmfloat4.w )
{}
@ -271,6 +275,11 @@ namespace SHADE
return result;
}
SHVec3 SHVec4::ToVec3() const noexcept
{
return SHVec3{ x, y, z };
}
/*-----------------------------------------------------------------------------------*/
/* Static Function Member Definitions */
/*-----------------------------------------------------------------------------------*/

14
SHADE_Engine/src/Math/Vector/SHVec4.h
View File

@ -16,6 +16,7 @@
// Project Headers
#include "SH_API.h"
#include "SHVec3.h"
namespace SHADE
{
@ -53,6 +54,7 @@ namespace SHADE
~SHVec4 () = default;
SHVec4 () noexcept;
SHVec4 (const SHVec3& vec3) noexcept;
SHVec4 (const XMFLOAT4& xmfloat4) noexcept;
SHVec4 (float x, float y, float z, float w) noexcept;
@ -103,15 +105,17 @@ namespace SHADE
[[nodiscard]] SHVec4 Cross3D (const SHVec4& rhs) const noexcept;
[[nodiscard]] SHVec4 Cross (const SHVec4& v1, const SHVec4& v2) const noexcept;
[[nodiscard]] SHVec3 ToVec3 () const noexcept;
/*---------------------------------------------------------------------------------*/
/* Static Function Members */
/*---------------------------------------------------------------------------------*/
[[nodiscard]] static SHVec4 Normalise (const SHVec4& v) noexcept;
[[nodiscard]] static SHVec4 Normalise3D (const SHVec4& v) noexcept;
[[nodiscard]] static SHVec4 Abs (const SHVec4& v) noexcept;
[[nodiscard]] static SHVec4 Min (const std::initializer_list<SHVec4>& vs) noexcept;
[[nodiscard]] static SHVec4 Max (const std::initializer_list<SHVec4>& vs) noexcept;
[[nodiscard]] static SHVec4 Normalise (const SHVec4& v) noexcept;
[[nodiscard]] static SHVec4 Normalise3D (const SHVec4& v) noexcept;
[[nodiscard]] static SHVec4 Abs (const SHVec4& v) noexcept;
[[nodiscard]] static SHVec4 Min (const std::initializer_list<SHVec4>& vs) noexcept;
[[nodiscard]] static SHVec4 Max (const std::initializer_list<SHVec4>& vs) noexcept;
[[nodiscard]] static SHVec4 Clamp (const SHVec4& v, const SHVec4& vMin, const SHVec4& vMax) noexcept;
[[nodiscard]] static SHVec4 Lerp (const SHVec4& a, const SHVec4& b, float t) noexcept;
[[nodiscard]] static SHVec4 ClampedLerp (const SHVec4& a, const SHVec4& b, float t, float tMin = 0.0f, float tMax = 1.0f) noexcept;

6
SHADE_Engine/src/Physics/SHPhysicsObject.cpp
View File

@ -140,12 +140,12 @@ namespace SHADE
isRigidBody = true;
rb->position = tf->GetWorldPosition();
rb->orientation = tf->GetWorldRotation();
rb->orientation = SHQuaternion::FromEuler(tf->GetWorldRotation());
if (hasColliders)
{
c->position = tf->GetWorldPosition();
c->orientation = tf->GetWorldRotation();
c->orientation = SHQuaternion::FromEuler(tf->GetWorldRotation());
// Get array of colliders and add them back into the rigidbody
for (auto& collider : c->colliders | std::views::keys)
AddCollider(&collider);
@ -160,7 +160,7 @@ namespace SHADE
hasColliders = true;
c->position = tf->GetWorldPosition();
c->orientation = tf->GetWorldRotation();
c->orientation = SHQuaternion::FromEuler(tf->GetWorldRotation());
for (auto& collider : c->colliders | std::views::keys)
AddCollider(&collider);

6
SHADE_Engine/src/Physics/SHPhysicsSystem.cpp
View File

@ -16,6 +16,7 @@
// Project Headers
#include "ECS_Base/Managers/SHComponentManager.h"
#include "ECS_Base/Managers/SHEntityManager.h"
#include "Math/SHMathHelpers.h"
#include "Scene/SHSceneManager.h"
#include "Math/Transform/SHTransformComponent.h"
@ -315,7 +316,7 @@ namespace SHADE
if (TF->HasChanged())
{
physicsObject.SetPosition(TF->GetWorldPosition());
physicsObject.SetRotation(TF->GetWorldRotation());
physicsObject.SetOrientation(TF->GetWorldOrientation());
}
}
}
@ -492,8 +493,7 @@ namespace SHADE
// Convert RP3D Transform to SHADE
auto* tfComponent = SHComponentManager::GetComponent<SHTransformComponent>(entityID);
tfComponent->SetWorldPosition(rp3dPos);
tfComponent->SetWorldRotation(SHQuaternion{ rp3dRot }.ToEuler());
tfComponent->SetWorldOrientation(SHQuaternion{ rp3dRot });
// Cache transforms
physicsObject.prevTransform = CURRENT_TF;

28
SHADE_Engine/src/Scene/SHSceneGraph.cpp
View File

@ -15,6 +15,7 @@
// Project Headers
#include "ECS_Base/Managers/SHEntityManager.h"
#include "Events/SHEventManager.hpp"
#include "Tools/SHLogger.h"
#include "Tools/SHException.h"
@ -317,6 +318,11 @@ namespace SHADE
if (parentNode == nullptr)
{
SHLOG_WARNING("Removing Entity {}'s parent", entityID)
if (parent)
parent->RemoveChild(this);
return;
}
// Handle self assignment
@ -359,10 +365,19 @@ namespace SHADE
}
////////////////////////////////////////
const SHSceneGraphChangeParentEvent EVENT_DATA
{
.node = NODE_ITER->second
, .oldParent = NODE_ITER->second->GetParent()
, .newParent = parent ? parent : root
};
if (parent == nullptr)
parent = root;
NODE_ITER->second->SetParent(parent);
SHEventManager::BroadcastEvent<SHSceneGraphChangeParentEvent>(EVENT_DATA, SH_SCENEGRAPH_CHANGE_PARENT_EVENT);
}
void SHSceneGraph::SetParent(EntityID entityID, EntityID parent) const noexcept
@ -396,8 +411,17 @@ namespace SHADE
}
////////////////////////////////////////
const SHSceneGraphChangeParentEvent EVENT_DATA
{
.node = NODE_ITER->second
, .oldParent = NODE_ITER->second->GetParent()
, .newParent = PARENT_ITER->second
};
SHSceneNode* currentNode = NODE_ITER->second;
currentNode->SetParent(PARENT_ITER->second);
SHEventManager::BroadcastEvent<SHSceneGraphChangeParentEvent>(EVENT_DATA, SH_SCENEGRAPH_CHANGE_PARENT_EVENT);
}
/*-----------------------------------------------------------------------------------*/
@ -558,7 +582,7 @@ namespace SHADE
ReleaseNode(node);
}
void SHSceneGraph::Traverse (const UnaryPredicate& predicate) const
void SHSceneGraph::Traverse (const UnaryFunction& predicate) const
{
TraverseAndInvokePredicate(root, predicate);
}
@ -597,7 +621,7 @@ namespace SHADE
delete node;
}
void SHSceneGraph::TraverseAndInvokePredicate(const SHSceneNode* node, const UnaryPredicate& predicate)
void SHSceneGraph::TraverseAndInvokePredicate(const SHSceneNode* node, const UnaryFunction& predicate)
{
for (auto* child : node->children)
{

16
SHADE_Engine/src/Scene/SHSceneGraph.h
View File

@ -97,9 +97,8 @@ namespace SHADE
/* Type Definitions */
/*---------------------------------------------------------------------------------*/
using EntityNodeMap = std::unordered_map<EntityID, SHSceneNode*>;
using UnaryPredicate = std::function<void(SHSceneNode*)>;
using EntityNodeMap = std::unordered_map<EntityID, SHSceneNode*>;
using UnaryFunction = std::function<void(SHSceneNode*)>;
/*---------------------------------------------------------------------------------*/
@ -143,8 +142,7 @@ namespace SHADE
bool RemoveNode (SHSceneNode* nodeToRemove) noexcept;
void Reset () noexcept;
void Traverse (const UnaryPredicate& predicate) const;
void Traverse (const UnaryFunction& predicate) const;
private:
/*---------------------------------------------------------------------------------*/
@ -160,8 +158,14 @@ namespace SHADE
SHSceneNode* AllocateNode (EntityID entityID);
void ReleaseNode (SHSceneNode* node) noexcept;
static void TraverseAndInvokePredicate (const SHSceneNode* node, const UnaryPredicate& predicate);
static void TraverseAndInvokePredicate (const SHSceneNode* node, const UnaryFunction& predicate);
};
struct SHSceneGraphChangeParentEvent
{
SHSceneNode* node;
SHSceneNode* oldParent;
SHSceneNode* newParent;
};
} // namespace SHADE

17
SHADE_Managed/Quaternion.hxx Normal file
View File

@ -0,0 +1,17 @@
/************************************************************************************//*!
\file Quaternion.hxx
\author Diren D Bharwani, diren.dbharwani, 390002520
\par email: diren.dbharwani\@digipen.edu
\date Oct 23, 2022
\brief Contains the definitions of Quaternion struct.
Note: This file is written in C++17/CLI.
Copyright (C) 2021 DigiPen Institute of Technology.
Reproduction or disclosure of this file or its contents without the prior written consent
of DigiPen Institute of Technology is prohibited.
*//*************************************************************************************/
#pragma once
// TODO(Diren)

1
SHADE_Managed/src/Math/Vector3.hxx
View File

@ -11,6 +11,7 @@ Copyright (C) 2021 DigiPen Institute of Technology.
Reproduction or disclosure of this file or its contents without the prior written consent
of DigiPen Institute of Technology is prohibited.
*//*************************************************************************************/
#pragma once
// Standard Libraries