Finished quaternion implementation
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Diren D Bharwani
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bf0c068cc7
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57f9898e07
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@ -211,15 +211,6 @@ namespace SHADE
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return XMVectorGetX(XMQuaternionDot(*this, rhs));
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}
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SHQuaternion SHQuaternion::RotateTowards(const SHQuaternion&, float) const noexcept
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{
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SHQuaternion result;
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// TODO (Diren)
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return result;
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}
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SHVec3 SHQuaternion::ToEuler() const noexcept
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{
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const float XX = x * x;
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@ -317,19 +308,32 @@ namespace SHADE
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}
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float SHQuaternion::Angle(const SHQuaternion&, const SHQuaternion&) noexcept
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float SHQuaternion::Angle(const SHQuaternion& q1, const SHQuaternion& q2) noexcept
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{
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// TODO (Diren)
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XMVECTOR R = XMQuaternionMultiply(XMQuaternionConjugate(q1), q2);
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return 0.0f;
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const float RS = XMVectorGetW(R);
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R = XMVector3Length(R);
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return 2.0f * atan2f(XMVectorGetX(R), RS);
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}
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SHQuaternion SHQuaternion::Lerp(const SHQuaternion&, const SHQuaternion&, float) noexcept
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SHQuaternion SHQuaternion::Lerp(const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept
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{
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SHQuaternion result;
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// TODO (Diren)
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XMVECTOR R = XMVectorZero();
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if (XMVector4GreaterOrEqual(XMVector4Dot(q1, q2), R))
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{
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R = XMVectorLerp(q1, q2, t);
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}
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else
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{
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const XMVECTOR X0 = XMVectorMultiply(q1, XMVectorReplicate(1.f - t));
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const XMVECTOR X1 = XMVectorMultiply(q2, XMVectorReplicate(t));
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R = XMVectorSubtract(X0, X1);
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}
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XMStoreFloat4(&result, XMQuaternionNormalize(R));
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return result;
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}
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@ -341,13 +345,102 @@ namespace SHADE
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return result;
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}
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SHQuaternion SHQuaternion::Rotate(const SHVec3& , const SHVec3&) noexcept
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SHQuaternion SHQuaternion::ClampedLerp(const SHQuaternion& q1, const SHQuaternion& q2, float t, float tMin, float tMax) noexcept
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{
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return Lerp(q1, q2, std::clamp(t, tMin, tMax));
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}
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SHQuaternion SHQuaternion::ClampedSlerp(const SHQuaternion& q1, const SHQuaternion& q2, float t, float tMin, float tMax) noexcept
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{
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return Slerp(q1, q2, std::clamp(t, tMin, tMax));
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}
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SHQuaternion SHQuaternion::FromToRotation(const SHVec3& from, const SHVec3& to) noexcept
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{
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// Melax, "The Shortest Arc Quaternion", Game Programming Gems
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SHQuaternion result;
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// TODO (Diren)
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const XMVECTOR F = XMVector3Normalize(from);
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const XMVECTOR T = XMVector3Normalize(to);
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const float dot = XMVectorGetX(XMVector3Dot(F, T));
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if (dot >= 1.f)
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{
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result = Identity;
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}
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else if (dot <= -1.f)
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{
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XMVECTOR axis = XMVector3Cross(F, SHVec3::Right);
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if (XMVector3NearEqual(XMVector3LengthSq(axis), g_XMZero, g_XMEpsilon))
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{
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axis = XMVector3Cross(F, SHVec3::Up);
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}
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const XMVECTOR Q = XMQuaternionRotationAxis(axis, XM_PI);
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XMStoreFloat4(&result, Q);
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}
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else
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{
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const XMVECTOR C = XMVector3Cross(F, T);
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XMStoreFloat4(&result, C);
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const float s = sqrtf((1.f + dot) * 2.f);
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result.x /= s;
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result.y /= s;
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result.z /= s;
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result.w = s * 0.5f;
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}
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return result;
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}
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SHQuaternion SHQuaternion::LookRotation(const SHVec3& forward, const SHVec3& up) noexcept
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{
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SHQuaternion result;
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const SHQuaternion Q1 = FromToRotation(SHVec3::Forward, forward);
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const XMVECTOR C = XMVector3Cross(forward, up);
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if (XMVector3NearEqual(XMVector3LengthSq(C), g_XMZero, g_XMEpsilon))
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{
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// forward and up are co-linear
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return Q1;
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}
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SHVec3 qU;
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XMStoreFloat3(&qU, XMQuaternionMultiply(Q1, SHVec3::Up));
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const SHQuaternion Q2 = FromToRotation(qU, up);
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XMStoreFloat4(&result, XMQuaternionMultiply(Q2, Q1));
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return result;
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}
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SHQuaternion SHQuaternion::RotateTowards(const SHQuaternion& from, const SHQuaternion& to, float maxAngleInRad) noexcept
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{
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SHQuaternion result;
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// We can use the conjugate here instead of inverse assuming q1 & q2 are normalized.
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const XMVECTOR R = XMQuaternionMultiply(XMQuaternionConjugate(from), to);
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const float RS = XMVectorGetW(R);
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const XMVECTOR L = XMVector3Length(R);
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const float angle = 2.f * atan2f(XMVectorGetX(L), RS);
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if (angle > maxAngleInRad)
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{
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const XMVECTOR delta = XMQuaternionRotationAxis(R, maxAngleInRad);
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const XMVECTOR Q = XMQuaternionMultiply(delta, from);
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XMStoreFloat4(&result, Q);
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}
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else
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{
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// Don't overshoot.
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result = to;
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}
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return result;
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}
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} // namespace SHADE
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@ -51,7 +51,6 @@ namespace SHADE
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SHQuaternion () noexcept;
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SHQuaternion (const SHVec4& vec4) noexcept;
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SHQuaternion (float x, float y, float z, float w) noexcept;
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SHQuaternion (float yaw, float pitch, float roll) noexcept;
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// Conversion from other math types
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@ -98,34 +97,37 @@ namespace SHADE
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/* Function Members */
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/*---------------------------------------------------------------------------------*/
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void Invert () noexcept;
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void Invert () noexcept;
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[[nodiscard]] float Length () const noexcept;
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[[nodiscard]] float LengthSquared () const noexcept;
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[[nodiscard]] float Dot (const SHQuaternion& rhs) const noexcept;
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[[nodiscard]] SHQuaternion RotateTowards (const SHQuaternion& target, float maxAngleInRad) const noexcept;
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[[nodiscard]] float Length () const noexcept;
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[[nodiscard]] float LengthSquared () const noexcept;
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[[nodiscard]] float Dot (const SHQuaternion& rhs) const noexcept;
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[[nodiscard]] SHVec3 ToEuler () const noexcept;
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[[nodiscard]] std::string ToString () const noexcept;
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[[nodiscard]] SHVec3 ToEuler () const noexcept;
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[[nodiscard]] std::string ToString () const noexcept;
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/*---------------------------------------------------------------------------------*/
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/* Static Function Members */
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/*---------------------------------------------------------------------------------*/
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[[nodiscard]] static SHQuaternion FromEuler (const SHVec3& eulerAngles) noexcept;
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[[nodiscard]] static SHQuaternion FromPitchYawRoll (float pitch, float yaw, float roll) noexcept;
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[[nodiscard]] static SHQuaternion FromAxisAngle (const SHVec3& axis, float angle) noexcept;
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[[nodiscard]] static SHQuaternion FromRotationMatrix(const SHMatrix& rotationMatrix) noexcept;
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[[nodiscard]] static SHQuaternion FromEuler (const SHVec3& eulerAngles) noexcept;
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[[nodiscard]] static SHQuaternion FromPitchYawRoll (float pitch, float yaw, float roll) noexcept;
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[[nodiscard]] static SHQuaternion FromAxisAngle (const SHVec3& axis, float angle) noexcept;
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[[nodiscard]] static SHQuaternion FromRotationMatrix(const SHMatrix& rotationMatrix) noexcept;
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[[nodiscard]] static SHQuaternion Normalise (const SHQuaternion& q) noexcept;
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[[nodiscard]] static SHQuaternion Conjugate (const SHQuaternion& q) noexcept;
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[[nodiscard]] static SHQuaternion Inverse (const SHQuaternion& q) noexcept;
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[[nodiscard]] static float Angle (const SHQuaternion& q1, const SHQuaternion& q2) noexcept;
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[[nodiscard]] static SHQuaternion Normalise (const SHQuaternion& q) noexcept;
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[[nodiscard]] static SHQuaternion Conjugate (const SHQuaternion& q) noexcept;
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[[nodiscard]] static SHQuaternion Inverse (const SHQuaternion& q) noexcept;
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[[nodiscard]] static float Angle (const SHQuaternion& q1, const SHQuaternion& q2) noexcept;
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[[nodiscard]] static SHQuaternion Lerp (const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept;
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[[nodiscard]] static SHQuaternion Slerp (const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept;
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[[nodiscard]] static SHQuaternion Lerp (const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept;
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[[nodiscard]] static SHQuaternion Slerp (const SHQuaternion& q1, const SHQuaternion& q2, float t) noexcept;
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[[nodiscard]] static SHQuaternion ClampedLerp (const SHQuaternion& q1, const SHQuaternion& q2, float t, float tMin = 0.0f, float tMax = 1.0f) noexcept;
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[[nodiscard]] static SHQuaternion ClampedSlerp (const SHQuaternion& q1, const SHQuaternion& q2, float t, float tMin = 0.0f, float tMax = 1.0f) noexcept;
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[[nodiscard]] static SHQuaternion Rotate (const SHVec3& from, const SHVec3& to) noexcept;
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[[nodiscard]] static SHQuaternion FromToRotation (const SHVec3& from, const SHVec3& to) noexcept;
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[[nodiscard]] static SHQuaternion LookRotation (const SHVec3& forward, const SHVec3& up) noexcept;
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[[nodiscard]] static SHQuaternion RotateTowards (const SHQuaternion& from, const SHQuaternion& to, float maxAngleInRad) noexcept;
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};
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SHQuaternion operator*(float lhs, const SHQuaternion& rhs) noexcept;
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@ -0,0 +1,17 @@
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/************************************************************************************//*!
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\file Quaternion.hxx
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\author Diren D Bharwani, diren.dbharwani, 390002520
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\par email: diren.dbharwani\@digipen.edu
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\date Oct 23, 2022
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\brief Contains the definitions of Quaternion struct.
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Note: This file is written in C++17/CLI.
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Copyright (C) 2021 DigiPen Institute of Technology.
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Reproduction or disclosure of this file or its contents without the prior written consent
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of DigiPen Institute of Technology is prohibited.
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*//*************************************************************************************/
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#pragma once
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// TODO(Diren)
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@ -11,6 +11,7 @@ Copyright (C) 2021 DigiPen Institute of Technology.
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Reproduction or disclosure of this file or its contents without the prior written consent
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of DigiPen Institute of Technology is prohibited.
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*//*************************************************************************************/
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#pragma once
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// Standard Libraries
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