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SP3-16 Quaternions #112

Merged
direnbharwani merged 17 commits from SP3-16-Math into main 2022-10-23 20:07:17 +08:00
Conversation 0 Commits 17 Files Changed 21 +645 -299
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;

301
SHADE_Engine/src/Math/SHQuaternion.cpp
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@ -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 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;
}

18
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 */
@ -104,7 +102,6 @@ namespace SHADE
[[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]] SHVec3 ToEuler () const noexcept;
[[nodiscard]] std::string ToString () const noexcept;
@ -113,6 +110,11 @@ 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;
@ -120,8 +122,12 @@ namespace SHADE
[[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 Rotate (const SHVec3& from, const SHVec3& to) 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;

10
SHADE_Engine/src/Math/Transform/SHTransform.cpp
View File

@ -27,13 +27,13 @@ namespace SHADE
SHTransform::SHTransform() noexcept
: position { SHVec3::Zero }
, rotation { SHVec3::Zero }
, orientation { SHQuaternion::Identity }
, scale { SHVec3::One }
{}
SHTransform::SHTransform(const SHVec3& pos, const SHVec3& rot, const SHVec3& scl) noexcept
: position { pos }
, rotation { rot }
, 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;

6
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
@ -32,7 +32,7 @@ namespace SHADE
static const SHTransform Identity;
SHVec3 position;
SHVec3 rotation;
SHQuaternion orientation;
SHVec3 scale;
SHMatrix trs;
@ -47,6 +47,7 @@ namespace SHADE
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 );
}

20
SHADE_Engine/src/Math/Transform/SHTransformComponent.h
View File

@ -60,9 +60,11 @@ namespace SHADE
[[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;
@ -77,10 +79,12 @@ namespace SHADE
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:
@ -88,10 +92,16 @@ namespace SHADE
/* 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 */
/*-----------------------------------------------------------------------------------*/

4
SHADE_Engine/src/Math/Vector/SHVec4.h
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@ -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;
@ -103,6 +105,8 @@ 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 */
/*---------------------------------------------------------------------------------*/

6
SHADE_Engine/src/Physics/SHPhysicsObject.cpp
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@ -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
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@ -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
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@ -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)
{

14
SHADE_Engine/src/Scene/SHSceneGraph.h
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@ -98,8 +98,7 @@ namespace SHADE
/*---------------------------------------------------------------------------------*/
using EntityNodeMap = std::unordered_map<EntityID, SHSceneNode*>;
using UnaryPredicate = std::function<void(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
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@ -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
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@ -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