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Make spherical_cubic_interpolate() more stable

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Silc Renew 2022-07-29 04:55:10 +09:00
parent edb503cd00
commit 90dc2f961e
1 changed files with 28 additions and 24 deletions
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50
core/math/quaternion.cpp
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@ -188,45 +188,49 @@ Quaternion Quaternion::spherical_cubic_interpolate(const Quaternion &p_b, const
ERR_FAIL_COND_V_MSG(!is_normalized(), Quaternion(), "The start quaternion must be normalized.");
ERR_FAIL_COND_V_MSG(!p_b.is_normalized(), Quaternion(), "The end quaternion must be normalized.");
#endif
Quaternion ret_q = *this;
Quaternion from_q = *this;
Quaternion pre_q = p_pre_a;
Quaternion to_q = p_b;
Quaternion post_q = p_post_b;
// Align flip phases.
ret_q = Basis(ret_q).get_rotation_quaternion();
from_q = Basis(from_q).get_rotation_quaternion();
pre_q = Basis(pre_q).get_rotation_quaternion();
to_q = Basis(to_q).get_rotation_quaternion();
post_q = Basis(post_q).get_rotation_quaternion();
// Flip quaternions to shortest path if necessary.
bool flip1 = signbit(ret_q.dot(pre_q));
bool flip1 = signbit(from_q.dot(pre_q));
pre_q = flip1 ? -pre_q : pre_q;
bool flip2 = signbit(ret_q.dot(to_q));
bool flip2 = signbit(from_q.dot(to_q));
to_q = flip2 ? -to_q : to_q;
bool flip3 = flip2 ? to_q.dot(post_q) <= 0 : signbit(to_q.dot(post_q));
post_q = flip3 ? -post_q : post_q;
if (flip1 || flip2 || flip3) {
// Angle is too large, calc by Approximate.
ret_q.x = Math::cubic_interpolate(ret_q.x, to_q.x, pre_q.x, post_q.x, p_weight);
ret_q.y = Math::cubic_interpolate(ret_q.y, to_q.y, pre_q.y, post_q.y, p_weight);
ret_q.z = Math::cubic_interpolate(ret_q.z, to_q.z, pre_q.z, post_q.z, p_weight);
ret_q.w = Math::cubic_interpolate(ret_q.w, to_q.w, pre_q.w, post_q.w, p_weight);
ret_q.normalize();
} else {
// Calc by Expmap.
Quaternion ln_ret = ret_q.log();
Quaternion ln_to = to_q.log();
Quaternion ln_pre = pre_q.log();
Quaternion ln_post = post_q.log();
// Calc by Expmap in from_q space.
Quaternion ln_from = Quaternion(0, 0, 0, 0);
Quaternion ln_to = (from_q.inverse() * to_q).log();
Quaternion ln_pre = (from_q.inverse() * pre_q).log();
Quaternion ln_post = (from_q.inverse() * post_q).log();
Quaternion ln = Quaternion(0, 0, 0, 0);
ln.x = Math::cubic_interpolate(ln_ret.x, ln_to.x, ln_pre.x, ln_post.x, p_weight);
ln.y = Math::cubic_interpolate(ln_ret.y, ln_to.y, ln_pre.y, ln_post.y, p_weight);
ln.z = Math::cubic_interpolate(ln_ret.z, ln_to.z, ln_pre.z, ln_post.z, p_weight);
ret_q = ln.exp();
}
return ret_q;
ln.x = Math::cubic_interpolate(ln_from.x, ln_to.x, ln_pre.x, ln_post.x, p_weight);
ln.y = Math::cubic_interpolate(ln_from.y, ln_to.y, ln_pre.y, ln_post.y, p_weight);
ln.z = Math::cubic_interpolate(ln_from.z, ln_to.z, ln_pre.z, ln_post.z, p_weight);
Quaternion q1 = from_q * ln.exp();
// Calc by Expmap in to_q space.
ln_from = (to_q.inverse() * from_q).log();
ln_to = Quaternion(0, 0, 0, 0);
ln_pre = (to_q.inverse() * pre_q).log();
ln_post = (to_q.inverse() * post_q).log();
ln = Quaternion(0, 0, 0, 0);
ln.x = Math::cubic_interpolate(ln_from.x, ln_to.x, ln_pre.x, ln_post.x, p_weight);
ln.y = Math::cubic_interpolate(ln_from.y, ln_to.y, ln_pre.y, ln_post.y, p_weight);
ln.z = Math::cubic_interpolate(ln_from.z, ln_to.z, ln_pre.z, ln_post.z, p_weight);
Quaternion q2 = to_q * ln.exp();
// To cancel error made by Expmap ambiguity, do blends.
return q1.slerp(q2, p_weight);
}
Quaternion::operator String() const {