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Fix cubic_slerp

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Co-authored-by: K. S. Ernest (iFire) Lee <ernest.lee@chibifire.com>
Co-authored-by: Pasi Nuutinmaki <gnssstylist@sci.fi>
This commit is contained in:
Silc 'Tokage' Renew 2022-07-25 22:39:48 +09:00
parent 667cef39b4
commit e252d4e6fe
2 changed files with 44 additions and 16 deletions
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58
core/math/quaternion.cpp
View file

@ -111,7 +111,7 @@ Quaternion Quaternion::log() const {
Quaternion Quaternion::exp() const { Quaternion Quaternion::exp() const {
Quaternion src = *this; Quaternion src = *this;
Vector3 src_v = Vector3(src.x, src.y, src.z); Vector3 src_v = Vector3(src.x, src.y, src.z);
float theta = src_v.length(); real_t theta = src_v.length();
if (theta < CMP_EPSILON) { if (theta < CMP_EPSILON) {
return Quaternion(0, 0, 0, 1); return Quaternion(0, 0, 0, 1);
} }
@ -132,15 +132,9 @@ Quaternion Quaternion::slerp(const Quaternion &p_to, const real_t &p_weight) con
// adjust signs (if necessary) // adjust signs (if necessary)
if (cosom < 0.0f) { if (cosom < 0.0f) {
cosom = -cosom; cosom = -cosom;
to1.x = -p_to.x; to1 = -p_to;
to1.y = -p_to.y;
to1.z = -p_to.z;
to1.w = -p_to.w;
} else { } else {
to1.x = p_to.x; to1 = p_to;
to1.y = p_to.y;
to1.z = p_to.z;
to1.w = p_to.w;
} }
// calculate coefficients // calculate coefficients
@ -194,11 +188,45 @@ Quaternion Quaternion::cubic_slerp(const Quaternion &p_b, const Quaternion &p_pr
ERR_FAIL_COND_V_MSG(!is_normalized(), Quaternion(), "The start quaternion must be normalized."); 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."); ERR_FAIL_COND_V_MSG(!p_b.is_normalized(), Quaternion(), "The end quaternion must be normalized.");
#endif #endif
//the only way to do slerp :| Quaternion ret_q = *this;
real_t t2 = (1.0f - p_weight) * p_weight * 2; Quaternion pre_q = p_pre_a;
Quaternion sp = this->slerp(p_b, p_weight); Quaternion to_q = p_b;
Quaternion sq = p_pre_a.slerpni(p_post_b, p_weight); Quaternion post_q = p_post_b;
return sp.slerpni(sq, t2);
// Align flip phases.
ret_q = Basis(ret_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));
pre_q = flip1 ? -pre_q : pre_q;
bool flip2 = signbit(ret_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();
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;
} }
Quaternion::operator String() const { Quaternion::operator String() const {
@ -213,7 +241,7 @@ Vector3 Quaternion::get_axis() const {
return Vector3(x * r, y * r, z * r); return Vector3(x * r, y * r, z * r);
} }
float Quaternion::get_angle() const { real_t Quaternion::get_angle() const {
return 2 * Math::acos(w); return 2 * Math::acos(w);
} }

2
core/math/quaternion.h
View file

@ -74,7 +74,7 @@ struct _NO_DISCARD_ Quaternion {
Quaternion cubic_slerp(const Quaternion &p_b, const Quaternion &p_pre_a, const Quaternion &p_post_b, const real_t &p_weight) const; Quaternion cubic_slerp(const Quaternion &p_b, const Quaternion &p_pre_a, const Quaternion &p_post_b, const real_t &p_weight) const;
Vector3 get_axis() const; Vector3 get_axis() const;
float get_angle() const; real_t get_angle() const;
_FORCE_INLINE_ void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const { _FORCE_INLINE_ void get_axis_angle(Vector3 &r_axis, real_t &r_angle) const {
r_angle = 2 * Math::acos(w); r_angle = 2 * Math::acos(w);