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C#: Rename and fix Quaternion.SphericalCubicInterpolate

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Raul Santos 2022-08-24 12:03:53 +02:00
parent f72b7a1595
commit 4c5cefe4fe
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1 changed files with 42 additions and 28 deletions
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modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
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@ -132,7 +132,7 @@ namespace Godot
}
/// <summary>
/// Performs a cubic spherical interpolation between quaternions <paramref name="preA"/>, this quaternion,
/// Performs a spherical cubic interpolation between quaternions <paramref name="preA"/>, this quaternion,
/// <paramref name="b"/>, and <paramref name="postB"/>, by the given amount <paramref name="weight"/>.
/// </summary>
/// <param name="b">The destination quaternion.</param>
@ -140,45 +140,59 @@ namespace Godot
/// <param name="postB">A quaternion after <paramref name="b"/>.</param>
/// <param name="weight">A value on the range of 0.0 to 1.0, representing the amount of interpolation.</param>
/// <returns>The interpolated quaternion.</returns>
public Quaternion CubicSlerp(Quaternion b, Quaternion preA, Quaternion postB, real_t weight)
public Quaternion SphericalCubicInterpolate(Quaternion b, Quaternion preA, Quaternion postB, real_t weight)
{
#if DEBUG
if (!IsNormalized())
{
throw new InvalidOperationException("Quaternion is not normalized");
}
if (!b.IsNormalized())
{
throw new ArgumentException("Argument is not normalized", nameof(b));
}
#endif
// Align flip phases.
Quaternion retQ = new Basis(this).GetRotationQuaternion();
Quaternion fromQ = new Basis(this).GetRotationQuaternion();
Quaternion preQ = new Basis(preA).GetRotationQuaternion();
Quaternion toQ = new Basis(b).GetRotationQuaternion();
Quaternion postQ = new Basis(postB).GetRotationQuaternion();
// Flip quaternions to shortest path if necessary.
bool flip1 = Math.Sign(retQ.Dot(preQ)) < 0;
bool flip1 = Math.Sign(fromQ.Dot(preQ)) < 0;
preQ = flip1 ? -preQ : preQ;
bool flip2 = Math.Sign(retQ.Dot(toQ)) < 0;
bool flip2 = Math.Sign(fromQ.Dot(toQ)) < 0;
toQ = flip2 ? -toQ : toQ;
bool flip3 = flip2 ? toQ.Dot(postQ) <= 0 : Math.Sign(toQ.Dot(postQ)) < 0;
postQ = flip3 ? -postQ : postQ;
if (flip1 || flip2 || flip3)
{
// Angle is too large, calc by Approximate.
retQ.x = Mathf.CubicInterpolate(retQ.x, toQ.x, preQ.x, postQ.x, weight);
retQ.y = Mathf.CubicInterpolate(retQ.y, toQ.y, preQ.y, postQ.y, weight);
retQ.z = Mathf.CubicInterpolate(retQ.z, toQ.z, preQ.z, postQ.z, weight);
retQ.w = Mathf.CubicInterpolate(retQ.w, toQ.w, preQ.w, postQ.w, weight);
retQ = retQ.Normalized();
}
else
{
// Calc by Expmap.
Quaternion ln_ret = retQ.Log();
Quaternion ln_to = toQ.Log();
Quaternion ln_pre = preQ.Log();
Quaternion ln_post = postQ.Log();
Quaternion ln = new Quaternion(0, 0, 0, 0);
ln.x = Mathf.CubicInterpolate(ln_ret.x, ln_to.x, ln_pre.x, ln_post.x, weight);
ln.y = Mathf.CubicInterpolate(ln_ret.y, ln_to.y, ln_pre.y, ln_post.y, weight);
ln.z = Mathf.CubicInterpolate(ln_ret.z, ln_to.z, ln_pre.z, ln_post.z, weight);
retQ = ln.Exp();
}
return retQ;
// Calc by Expmap in fromQ space.
Quaternion lnFrom = new Quaternion(0, 0, 0, 0);
Quaternion lnTo = (fromQ.Inverse() * toQ).Log();
Quaternion lnPre = (fromQ.Inverse() * preQ).Log();
Quaternion lnPost = (fromQ.Inverse() * postQ).Log();
Quaternion ln = new Quaternion(
Mathf.CubicInterpolate(lnFrom.x, lnTo.x, lnPre.x, lnPost.x, weight),
Mathf.CubicInterpolate(lnFrom.y, lnTo.y, lnPre.y, lnPost.y, weight),
Mathf.CubicInterpolate(lnFrom.z, lnTo.z, lnPre.z, lnPost.z, weight),
0);
Quaternion q1 = fromQ * ln.Exp();
// Calc by Expmap in toQ space.
lnFrom = (toQ.Inverse() * fromQ).Log();
lnTo = new Quaternion(0, 0, 0, 0);
lnPre = (toQ.Inverse() * preQ).Log();
lnPost = (toQ.Inverse() * postQ).Log();
ln = new Quaternion(
Mathf.CubicInterpolate(lnFrom.x, lnTo.x, lnPre.x, lnPost.x, weight),
Mathf.CubicInterpolate(lnFrom.y, lnTo.y, lnPre.y, lnPost.y, weight),
Mathf.CubicInterpolate(lnFrom.z, lnTo.z, lnPre.z, lnPost.z, weight),
0);
Quaternion q2 = toQ * ln.Exp();
// To cancel error made by Expmap ambiguity, do blends.
return q1.Slerp(q2, weight);
}
/// <summary>