From ebfcf1c6bbbeae4c8a16c7d96ed3be9b4205fb6c Mon Sep 17 00:00:00 2001 From: Diren D Bharwani Date: Sat, 22 Oct 2022 20:16:38 +0800 Subject: [PATCH] Transform now stores orientation as Quaternions. Interface unchanged --- SHADE_Application/src/Scenes/SBTestScene.cpp | 6 +- SHADE_Engine/src/Math/SHMatrix.cpp | 81 +++----- SHADE_Engine/src/Math/SHMatrix.h | 2 + SHADE_Engine/src/Math/SHQuaternion.cpp | 174 +++++++----------- SHADE_Engine/src/Math/SHQuaternion.h | 9 +- .../src/Math/Transform/SHTransform.cpp | 18 +- SHADE_Engine/src/Math/Transform/SHTransform.h | 22 +-- .../Math/Transform/SHTransformComponent.cpp | 78 +++----- .../src/Math/Transform/SHTransformComponent.h | 36 ++-- .../src/Math/Transform/SHTransformSystem.cpp | 75 ++++---- .../src/Math/Transform/SHTransformSystem.h | 3 +- SHADE_Engine/src/Physics/SHPhysicsObject.cpp | 6 +- 12 files changed, 209 insertions(+), 301 deletions(-) diff --git a/SHADE_Application/src/Scenes/SBTestScene.cpp b/SHADE_Application/src/Scenes/SBTestScene.cpp index be09768b..23259ee4 100644 --- a/SHADE_Application/src/Scenes/SBTestScene.cpp +++ b/SHADE_Application/src/Scenes/SBTestScene.cpp @@ -104,10 +104,10 @@ namespace Sandbox transform.SetWorldRotation(SHMath::GenerateRandomNumber(), SHMath::GenerateRandomNumber(), SHMath::GenerateRandomNumber()); 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); } diff --git a/SHADE_Engine/src/Math/SHMatrix.cpp b/SHADE_Engine/src/Math/SHMatrix.cpp index 571fa4e0..ec3951e2 100644 --- a/SHADE_Engine/src/Math/SHMatrix.cpp +++ b/SHADE_Engine/src/Math/SHMatrix.cpp @@ -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(&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(&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; } diff --git a/SHADE_Engine/src/Math/SHMatrix.h b/SHADE_Engine/src/Math/SHMatrix.h index 7a662478..4d8f1bfe 100644 --- a/SHADE_Engine/src/Math/SHMatrix.h +++ b/SHADE_Engine/src/Math/SHMatrix.h @@ -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; diff --git a/SHADE_Engine/src/Math/SHQuaternion.cpp b/SHADE_Engine/src/Math/SHQuaternion.cpp index 33c568a5..924ac67a 100644 --- a/SHADE_Engine/src/Math/SHQuaternion.cpp +++ b/SHADE_Engine/src/Math/SHQuaternion.cpp @@ -40,40 +40,10 @@ namespace SHADE : 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 +83,7 @@ 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 +91,7 @@ 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 +99,7 @@ namespace SHADE { SHQuaternion result; - const XMVECTOR Q = XMLoadFloat4(this); - - XMStoreFloat4(&result, XMVectorNegate(Q)); + XMStoreFloat4(&result, XMVectorNegate(*this)); return result; } @@ -145,10 +107,7 @@ 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 +115,7 @@ namespace SHADE { SHQuaternion result; - const XMVECTOR Q = XMLoadFloat4(this); - - XMStoreFloat4(&result, XMVectorScale(Q, rhs)); + XMStoreFloat4(&result, XMVectorScale(*this, rhs)); return result; } @@ -166,27 +123,18 @@ 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 +147,11 @@ 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 +166,7 @@ namespace SHADE XMVECTOR axis; float angle; - const XMVECTOR Q = XMLoadFloat4(this); - XMQuaternionToAxisAngle(&axis, &angle, Q); + XMQuaternionToAxisAngle(&axis, &angle, *this); return angle; } @@ -223,8 +175,7 @@ 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}; @@ -238,28 +189,22 @@ 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)); + return XMVectorGetX(XMQuaternionDot(*this, rhs)); } SHQuaternion SHQuaternion::RotateTowards(const SHQuaternion&, float) const noexcept @@ -273,29 +218,29 @@ namespace SHADE 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 +256,43 @@ 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 +300,7 @@ namespace SHADE { SHQuaternion result; - const XMVECTOR Q = XMLoadFloat4(&q); - - XMStoreFloat4(&result, XMQuaternionConjugate(Q)); + XMStoreFloat4(&result, XMQuaternionConjugate(q)); return result; } @@ -335,9 +308,7 @@ namespace SHADE { SHQuaternion result; - const XMVECTOR Q = XMLoadFloat4(&q); - XMStoreFloat4(&result, XMQuaternionInverse(Q)); - + XMStoreFloat4(&result, XMQuaternionInverse(q)); return result; } @@ -362,10 +333,7 @@ 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; } diff --git a/SHADE_Engine/src/Math/SHQuaternion.h b/SHADE_Engine/src/Math/SHQuaternion.h index c94907b5..f3ce3d61 100644 --- a/SHADE_Engine/src/Math/SHQuaternion.h +++ b/SHADE_Engine/src/Math/SHQuaternion.h @@ -51,9 +51,6 @@ namespace SHADE SHQuaternion () 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 */ @@ -113,6 +111,11 @@ namespace SHADE /* Static Function Members */ /*---------------------------------------------------------------------------------*/ + [[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 Normalise (const SHQuaternion& q) noexcept; [[nodiscard]] static SHQuaternion Conjugate (const SHQuaternion& q) noexcept; [[nodiscard]] static SHQuaternion Inverse (const SHQuaternion& q) noexcept; diff --git a/SHADE_Engine/src/Math/Transform/SHTransform.cpp b/SHADE_Engine/src/Math/Transform/SHTransform.cpp index f51d73ec..ef7c5fda 100644 --- a/SHADE_Engine/src/Math/Transform/SHTransform.cpp +++ b/SHADE_Engine/src/Math/Transform/SHTransform.cpp @@ -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; diff --git a/SHADE_Engine/src/Math/Transform/SHTransform.h b/SHADE_Engine/src/Math/Transform/SHTransform.h index c1a0e565..2e7d236c 100644 --- a/SHADE_Engine/src/Math/Transform/SHTransform.h +++ b/SHADE_Engine/src/Math/Transform/SHTransform.h @@ -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 \ No newline at end of file diff --git a/SHADE_Engine/src/Math/Transform/SHTransformComponent.cpp b/SHADE_Engine/src/Math/Transform/SHTransformComponent.cpp index a8b75497..306cde67 100644 --- a/SHADE_Engine/src/Math/Transform/SHTransformComponent.cpp +++ b/SHADE_Engine/src/Math/Transform/SHTransformComponent.cpp @@ -42,16 +42,12 @@ namespace SHADE const SHVec3& SHTransformComponent::GetLocalRotation() const noexcept { - return local.rotation; + return localRotation; } - SHVec3 SHTransformComponent::GetLocalRotationDeg() const noexcept + const SHQuaternion& SHTransformComponent::GetLocalOrientation() const noexcept { - SHVec3 rot = local.rotation; - rot.x = SHMath::RadiansToDegrees(rot.x); - rot.y = SHMath::RadiansToDegrees(rot.y); - rot.z = SHMath::RadiansToDegrees(rot.z); - return rot; + return local.orientation; } const SHVec3& SHTransformComponent::GetLocalScale() const noexcept @@ -66,16 +62,12 @@ namespace SHADE const SHVec3& SHTransformComponent::GetWorldRotation() const noexcept { - return world.rotation; + return worldRotation; } - SHVec3 SHTransformComponent::GetWorldRotationDeg() const noexcept + const SHQuaternion& SHTransformComponent::GetWorldOrientation() const noexcept { - SHVec3 rot = world.rotation; - rot.x = SHMath::RadiansToDegrees(rot.x); - rot.y = SHMath::RadiansToDegrees(rot.y); - rot.z = SHMath::RadiansToDegrees(rot.z); - return rot; + return world.orientation; } const SHVec3& SHTransformComponent::GetWorldScale() const noexcept @@ -111,32 +103,21 @@ namespace SHADE void SHTransformComponent::SetLocalRotation(const SHVec3& newLocalRotation) noexcept { dirty = true; - local.rotation = newLocalRotation; - } - - void SHTransformComponent::SetLocalRotationDeg(SHVec3 newLocalRotationDeg) noexcept - { - dirty = true; - - local.rotation.x = SHMath::DegreesToRadians(newLocalRotationDeg.x); - local.rotation.y = SHMath::DegreesToRadians(newLocalRotationDeg.y); - local.rotation.z = SHMath::DegreesToRadians(newLocalRotationDeg.z); + localRotation = 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; } - void SHTransformComponent::SetLocalRotationDeg(float pitch, float yaw, float roll) noexcept + void SHTransformComponent::SetLocalOrientation(const SHQuaternion& newLocalOrientation) noexcept { - local.rotation.x = SHMath::DegreesToRadians(pitch); - local.rotation.y = SHMath::DegreesToRadians(yaw); - local.rotation.z = SHMath::DegreesToRadians(roll); + } void SHTransformComponent::SetLocalScale(const SHVec3& newLocalScale) noexcept @@ -157,41 +138,24 @@ namespace SHADE { dirty = true; - world.rotation = newWorldRotation; + worldRotation = newWorldRotation; updateQueue.push({ UpdateCommandType::WORLD_ROTATION, newWorldRotation }); } - void SHTransformComponent::SetWorldRotationDeg(const SHVec3& newWorldRotation) noexcept - { - dirty = true; - - world.rotation.x = SHMath::DegreesToRadians(newWorldRotation.x); - world.rotation.y = SHMath::DegreesToRadians(newWorldRotation.y); - world.rotation.z = SHMath::DegreesToRadians(newWorldRotation.z); - - updateQueue.push({ UpdateCommandType::WORLD_ROTATION, world.rotation }); - } - void SHTransformComponent::SetWorldRotation(float pitch, float yaw, float roll) noexcept { 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::SetWorldRotationDeg(float pitch, float yaw, float roll) noexcept + void SHTransformComponent::SetWorldOrientation(const SHQuaternion& newWorldOrientation) noexcept { - dirty = true; - - world.rotation.x = SHMath::DegreesToRadians(pitch); - world.rotation.y = SHMath::DegreesToRadians(yaw); - world.rotation.z = SHMath::DegreesToRadians(roll); - - updateQueue.push({ UpdateCommandType::WORLD_ROTATION, world.rotation }); + } void SHTransformComponent::SetWorldScale(const SHVec3& newWorldScale) noexcept @@ -210,7 +174,7 @@ RTTR_REGISTRATION using namespace rttr; registration::class_("Transform Component") - .property("Translate" , &SHTransformComponent::GetLocalPosition , &SHTransformComponent::SetLocalPosition ) - .property("Rotate" , &SHTransformComponent::GetLocalRotationDeg, select_overload(&SHTransformComponent::SetLocalRotationDeg)) - .property("Scale" , &SHTransformComponent::GetLocalScale , &SHTransformComponent::SetLocalScale ); + .property("Translate" , &SHTransformComponent::GetLocalPosition , &SHTransformComponent::SetLocalPosition ) + .property("Rotate" , &SHTransformComponent::GetLocalRotation , select_overload(&SHTransformComponent::SetLocalRotation) ) + .property("Scale" , &SHTransformComponent::GetLocalScale , &SHTransformComponent::SetLocalScale ); } \ No newline at end of file diff --git a/SHADE_Engine/src/Math/Transform/SHTransformComponent.h b/SHADE_Engine/src/Math/Transform/SHTransformComponent.h index 2a3fa7a0..d1d21bec 100644 --- a/SHADE_Engine/src/Math/Transform/SHTransformComponent.h +++ b/SHADE_Engine/src/Math/Transform/SHTransformComponent.h @@ -60,11 +60,11 @@ namespace SHADE [[nodiscard]] const SHVec3& GetLocalPosition () const noexcept; [[nodiscard]] const SHVec3& GetLocalRotation () const noexcept; - [[nodiscard]] SHVec3 GetLocalRotationDeg () 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]] SHVec3 GetWorldRotationDeg () const noexcept; + [[nodiscard]] const SHQuaternion& GetWorldOrientation () const noexcept; [[nodiscard]] const SHVec3& GetWorldScale () const noexcept; [[nodiscard]] const SHMatrix& GetLocalToWorld () const noexcept; @@ -76,28 +76,30 @@ namespace SHADE /* Setter Functions */ /*---------------------------------------------------------------------------------*/ - void SetLocalPosition (const SHVec3& newLocalPosition) noexcept; - void SetLocalRotation (const SHVec3& newLocalRotation) noexcept; - void SetLocalRotationDeg (SHVec3 newLocalRotationDeg) noexcept; - void SetLocalRotation (float pitch, float yaw, float roll) noexcept; - void SetLocalRotationDeg (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 SetWorldRotationDeg (const SHVec3& newWorldRotation) noexcept; - void SetWorldRotation (float pitch, float yaw, float roll) noexcept; - void SetWorldRotationDeg (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 , WORLD_ROTATION + , WORLD_ORIENTATION , WORLD_SCALE }; @@ -120,6 +122,12 @@ namespace SHADE bool dirty; + // We store euler angle rotations separately to interface with transform quaternions. + // Reading quaternions are unreliable. + + SHVec3 localRotation; // Stored in degrees + SHVec3 worldRotation; // Stored in degrees + SHTransform local; // Local TRS holds Local To World Transform SHTransform world; diff --git a/SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp b/SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp index 4b4f1cce..3244db1b 100644 --- a/SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp +++ b/SHADE_Engine/src/Math/Transform/SHTransformSystem.cpp @@ -17,6 +17,8 @@ #include "Scene/SHSceneManager.h" #include "ECS_Base/Managers/SHComponentManager.h" #include "ECS_Base/Managers/SHEntityManager.h" +#include "ECS_Base/Managers/SHSystemManager.h" +#include "Math/SHMathHelpers.h" namespace SHADE { @@ -45,14 +47,16 @@ namespace SHADE { // 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 dt) noexcept + void SHTransformSystem::TransformPostPhysicsUpdate::Execute(double) noexcept { // Get the current scene graph to traverse and update const auto& SCENE_GRAPH = SHSceneManager::GetCurrentSceneGraph(); - UpdateEntityAndClear(SCENE_GRAPH.GetRoot()); + UpdateEntity(SCENE_GRAPH.GetRoot(), true); } void SHTransformSystem::Init() @@ -96,13 +100,13 @@ namespace SHADE tf->local.position = SHVec3::Transform(tf->world.position, worldToLocal); - tf->local.rotation = tf->world.rotation; - tf->local.scale = tf->world.scale; + tf->localRotation = tf->worldRotation; + tf->local.scale = tf->world.scale; if (PARENT_TF != nullptr) { // Compute Local Rotation - tf->local.rotation -= PARENT_TF->GetLocalRotation(); + tf->localRotation -= PARENT_TF->GetLocalRotation(); // Compute Local Scale tf->local.scale /= PARENT_TF->GetLocalScale(); @@ -143,13 +147,13 @@ namespace SHADE childTransform->local.position = SHVec3::Transform(childTransform->world.position, worldToLocal); - childTransform->local.rotation = childTransform->world.rotation; - childTransform->local.scale = childTransform->world.scale; + childTransform->localRotation = childTransform->worldRotation; + childTransform->local.scale = childTransform->world.scale; if (parent) { // Compute Local Rotation - childTransform->local.rotation -= parent->GetLocalRotation(); + childTransform->localRotation -= parent->GetLocalRotation(); // Compute Local Scale childTransform->local.scale /= parent->GetLocalScale(); @@ -158,12 +162,10 @@ namespace SHADE childTransform->local.trs = localToWorld; } } - - } } - void SHTransformSystem::UpdateEntity(const SHSceneNode* node) + void SHTransformSystem::UpdateEntity(const SHSceneNode* node, bool clearDirtyFlag) { const auto* NODE_TRANSFORM = SHComponentManager::GetComponent_s(node->GetEntityID()); const bool HAS_PARENT_CHANGED = NODE_TRANSFORM && NODE_TRANSFORM->dirty; @@ -185,37 +187,10 @@ namespace SHADE } } - UpdateEntity(child); - } - } - - - void SHTransformSystem::UpdateEntityAndClear(const SHSceneNode* node) - { - const auto* NODE_TRANSFORM = SHComponentManager::GetComponent_s(node->GetEntityID()); - const bool HAS_PARENT_CHANGED = NODE_TRANSFORM && NODE_TRANSFORM->dirty; - - for (const auto* child : node->GetChildren()) - { - auto* childTransform = SHComponentManager::GetComponent_s(child->GetEntityID()); - if (childTransform) - { - // Only update if node in hierarchy and component are both active - const bool IS_NODE_ACTIVE = child->IsActive(); - if (IS_NODE_ACTIVE && childTransform->isActive) - { - if (childTransform->dirty || HAS_PARENT_CHANGED) - { - UpdateTransform(*childTransform, NODE_TRANSFORM); - childTransform->dirty = true; - } - } - } - - UpdateEntityAndClear(child); + UpdateEntity(child, clearDirtyFlag); // Clear dirty flag after all children are updated - if (childTransform) + if (childTransform && clearDirtyFlag) childTransform->dirty = false; } } @@ -244,12 +219,17 @@ namespace SHADE } case SHTransformComponent::UpdateCommandType::WORLD_ROTATION: { - tf.local.rotation = tf.world.rotation; + tf.localRotation = tf.worldRotation; if (parent) - tf.local.rotation -= parent->GetLocalRotation(); + tf.localRotation -= parent->GetLocalRotation(); break; } + case SHTransformComponent::UpdateCommandType::WORLD_ORIENTATION: + { + // TODO(Diren): Test using scripts by concat quaternions? + break; + } case SHTransformComponent::UpdateCommandType::WORLD_SCALE: { tf.local.scale = tf.world.scale; @@ -268,7 +248,14 @@ namespace SHADE tf.local.trs = localToWorld; tf.world.position = SHVec3::Transform(tf.local.position, localToWorld); - tf.world.rotation = tf.local.rotation + (parent ? parent->GetLocalRotation() : SHVec3::Zero); + + tf.worldRotation = tf.localRotation + (parent ? parent->GetLocalRotation() : SHVec3::Zero); + + // TODO(Diren): Wrap rotations between -360 and 360 + + tf.world.orientation = SHQuaternion::FromEuler(tf.worldRotation); + tf.local.orientation = SHQuaternion::FromEuler(tf.localRotation); + tf.world.scale = tf.local.scale * (parent ? parent->GetLocalScale() : SHVec3::One); tf.world.ComputeTRS(); diff --git a/SHADE_Engine/src/Math/Transform/SHTransformSystem.h b/SHADE_Engine/src/Math/Transform/SHTransformSystem.h index 256c1561..e63969ce 100644 --- a/SHADE_Engine/src/Math/Transform/SHTransformSystem.h +++ b/SHADE_Engine/src/Math/Transform/SHTransformSystem.h @@ -114,8 +114,7 @@ namespace SHADE SHEventHandle ChangeParent (SHEventPtr changeParentEvent); static void UpdateChildrenLocalTransforms (SHSceneNode* node); - static void UpdateEntity (const SHSceneNode* node); - static void UpdateEntityAndClear (const SHSceneNode* node); + static void UpdateEntity (const SHSceneNode* node, bool clearDirtyFlag); static void UpdateTransform (SHTransformComponent& tf, const SHTransformComponent* parent = nullptr); }; diff --git a/SHADE_Engine/src/Physics/SHPhysicsObject.cpp b/SHADE_Engine/src/Physics/SHPhysicsObject.cpp index 36f7c57e..f9b476ef 100644 --- a/SHADE_Engine/src/Physics/SHPhysicsObject.cpp +++ b/SHADE_Engine/src/Physics/SHPhysicsObject.cpp @@ -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);