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Fixed ticket #48, improved SLERP interpolation

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This commit is contained in:
Christophe Riccio 2011-05-03 11:52:51 +01:00
parent ee79782477
commit 144caa18d5
3 changed files with 83 additions and 2 deletions
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14
glm/gtc/quaternion.inl
View file

@ -326,7 +326,7 @@ namespace quaternion{
q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z,
q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x);
}
/*
// (x * sin(1 - a) * angle / sin(angle)) + (y * sin(a) * angle / sin(angle))
template <typename T>
GLM_FUNC_QUALIFIER detail::tquat<T> mix
@ -406,6 +406,18 @@ namespace quaternion{
return normalize(beta * x + alpha * y);
}
*/
template <typename T>
GLM_FUNC_QUALIFIER detail::tquat<T> mix
(
detail::tquat<T> const & x,
detail::tquat<T> const & y,
T const & a
)
{
T angle = acos(dot(x, y));
return (sin((1 - a) * angle) * x + sin(a * angle) * y) / sin(angle);
}
template <typename T>
GLM_FUNC_QUALIFIER detail::tquat<T> conjugate

18
glm/gtx/quaternion.hpp
View file

@ -109,7 +109,7 @@ namespace glm
detail::tquat<valType> const & q,
detail::tvec4<valType> const & v);
//! Returns the q rotation angle.
//! Returns the quaternion rotation angle.
//! From GLM_GTX_quaternion extension.
template <typename valType>
valType angle(
@ -191,6 +191,22 @@ namespace glm
detail::tquat<valType> toQuat(
detail::tmat4x4<valType> const & x){return gtc::quaternion::quat_cast(x);}
//! Quaternion interpolation using the rotation short path.
//! From GLM_GTX_quaternion extension.
template <typename T>
detail::tquat<T> shortMix(
detail::tquat<T> const & x,
detail::tquat<T> const & y,
T const & a);
//! Quaternion normalized linear interpolation.
//! From GLM_GTX_quaternion extension.
template <typename T>
detail::tquat<T> fastMix(
detail::tquat<T> const & x,
detail::tquat<T> const & y,
T const & a);
///@}
}//namespace quaternion

53
glm/gtx/quaternion.inl
View file

@ -245,6 +245,59 @@ namespace quaternion
return detail::tvec3<valType>(pitch(x), yaw(x), roll(x));
}
template <typename T>
GLM_FUNC_QUALIFIER detail::tquat<T> shortMix
(
detail::tquat<T> const & x,
detail::tquat<T> const & y,
T const & a
)
{
if(a <= typename detail::tquat<T>::value_type(0)) return x;
if(a >= typename detail::tquat<T>::value_type(1)) return y;
float fCos = dot(x, y);
detail::tquat<T> y2(y); //BUG!!! tquat<T> y2;
if(fCos < typename detail::tquat<T>::value_type(0))
{
y2 = -y;
fCos = -fCos;
}
//if(fCos > 1.0f) // problem
float k0, k1;
if(fCos > typename detail::tquat<T>::value_type(0.9999))
{
k0 = typename detail::tquat<T>::value_type(1) - a;
k1 = typename detail::tquat<T>::value_type(0) + a; //BUG!!! 1.0f + a;
}
else
{
typename detail::tquat<T>::value_type fSin = sqrt(T(1) - fCos * fCos);
typename detail::tquat<T>::value_type fAngle = atan(fSin, fCos);
typename detail::tquat<T>::value_type fOneOverSin = T(1) / fSin;
k0 = sin((typename detail::tquat<T>::value_type(1) - a) * fAngle) * fOneOverSin;
k1 = sin((typename detail::tquat<T>::value_type(0) + a) * fAngle) * fOneOverSin;
}
return detail::tquat<T>(
k0 * x.w + k1 * y2.w,
k0 * x.x + k1 * y2.x,
k0 * x.y + k1 * y2.y,
k0 * x.z + k1 * y2.z);
}
template <typename T>
GLM_FUNC_QUALIFIER detail::tquat<T> fastMix
(
detail::tquat<T> const & x,
detail::tquat<T> const & y,
T const & a
)
{
return glm::normalize(x * (1 - a) + (y * a));
}
}//namespace quaternion
}//namespace gtx
}//namespace glm