sid/NazaraEngine
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Refactored mathematics module

Browse Source 
Added AABBs
Added code examples
Added experimental support for texture arrays (1D/2D)
Added initialisers (new way of initialising modules)
Added global headers (Plus a global header generator script)
Added pattern support for directory
Added support for spinlocks critical section on Windows
Added NzRenderWindow::SetFramerateLimit
Core project now includes Mathematics files
Fixed color implementation using double
Fixed declaration needing renderer include
Fixed MLT not clearing nextFree(File/Line) after Free
Fixed move operators not being noexcept
Fixed thread-safety (Now working correctly - If I'm lucky)
Moved Resource to core
New interface for modules
New interface for the renderer
Put some global functions to anonymous namespace
Removed empty modules
Renamed ThreadCondition to ConditionVariable
Replaced redirect to cerr log option by duplicate to cout
Setting mouse position relative to a window will make this window ignore
the event
Shaders sending methods no longer takes the uniform variable name (it's
using ID instead)
Using new OpenGL 4.3 header
This commit is contained in:
Lynix
2012-08-08 04:44:17 +02:00
parent 06eda4eba9
commit b442ab0bd2
142 changed files with 6861 additions and 2326 deletions
Download Patch File Download Diff File Expand all files Collapse all files

201
include/Nazara/Math/Quaternion.inl
View File

@@ -8,8 +8,11 @@
#include <Nazara/Math/Config.hpp>
#include <Nazara/Math/EulerAngles.hpp>
#include <Nazara/Math/Vector3.hpp>
#include <limits>
#include <Nazara/Core/Debug.hpp>
#define F(a) static_cast<T>(a)
template<typename T>
NzQuaternion<T>::NzQuaternion()
{
@@ -53,9 +56,9 @@ NzQuaternion<T>::NzQuaternion(const NzQuaternion<U>& quat)
}
template<typename T>
T NzQuaternion<T>::DotProduct(const NzQuaternion& vec) const
T NzQuaternion<T>::DotProduct(const NzQuaternion& quat) const
{
return w*vec.w + x*vec.x + y*vec.y + z.vec.z;
return w*quat.w + x*quat.x + y*quat.y + z*quat.z;
}
template<typename T>
@@ -73,6 +76,18 @@ NzQuaternion<T> NzQuaternion<T>::GetNormalized() const
return quat;
}
template<typename T>
void NzQuaternion<T>::MakeIdentity()
{
Set(1.0, 0.0, 0.0, 0.0);
}
template<typename T>
void NzQuaternion<T>::MakeZero()
{
Set(0.0, 0.0, 0.0, 0.0);
}
template<typename T>
T NzQuaternion<T>::Magnitude() const
{
@@ -82,27 +97,21 @@ T NzQuaternion<T>::Magnitude() const
template<typename T>
T NzQuaternion<T>::Normalize()
{
T squaredLength = SquaredMagnitude();
T squaredMagnitude = SquaredMagnitude();
if (std::fabs(squaredLength) > 0.00001 && std::fabs(squaredLength - 1.0) > 0.00001)
if (squaredMagnitude-F(1.0) > std::numeric_limits<T>::epsilon())
{
T length = std::sqrt(squaredLength);
T magnitude = std::sqrt(squaredMagnitude);
w /= length;
x /= length;
y /= length;
z /= length;
w /= magnitude;
x /= magnitude;
y /= magnitude;
z /= magnitude;
return length;
return magnitude;
}
else
return 1.0; // Le quaternion est déjà normalisé
}
template<typename T>
T NzQuaternion<T>::SquaredMagnitude() const
{
return w * w + x * x + y * y + z * z;
return F(1.0); // Le quaternion est déjà normalisé
}
template<typename T>
@@ -166,81 +175,29 @@ void NzQuaternion<T>::Set(const NzQuaternion& quat)
}
template<typename T>
void NzQuaternion<T>::SetIdentity()
T NzQuaternion<T>::SquaredMagnitude() const
{
Set(1.0, 0.0, 0.0, 0.0);
}
template<typename T>
void NzQuaternion<T>::SetZero()
{
Set(0.0, 0.0, 0.0, 0.0);
}
template<typename T>
NzQuaternion<T> NzQuaternion<T>::Slerp(const NzQuaternion& quatA, const NzQuaternion& quatB, T interp)
{
if (interp <= 0.0)
return quatA;
if (interp >= 1.0)
return quatB;
NzQuaternion q;
T cosOmega = quatA.DotProduct(quatB);
if (cosOmega < 0.0)
{
// On inverse tout
q.Set(-quatB.w, -quatB.x, -quatB.y, -quatB.z);
cosOmega = -cosOmega;
}
else
q.Set(quatB);
T k0, k1;
if (cosOmega > 0.9999)
{
// Interpolation linéaire pour éviter une division par zéro
k0 = 1.0 - interp;
k1 = interp;
}
else
{
T sinOmega = std::sqrt(1.0f - (cosOmega * cosOmega));
T omega = std::atan2(sinOmega, cosOmega);
// Pour éviter deux divisions
sinOmega = 1/sinOmega;
k0 = std::sin((1.0 - interp) * omega) * sinOmega;
k1 = std::sin(interp * omega) * sinOmega;
}
NzQuaternion result(k0 * quatA.w, k0 * quatA.x, k0 * quatA.y, k0 * quatA.z);
return result += q;
return w*w + x*x + y*y + z*z;
}
template<typename T>
NzEulerAngles<T> NzQuaternion<T>::ToEulerAngles() const
{
Normalize();
T test = x*y + z*w;
if (test > 0.499)
if (test > F(0.499))
// singularity at north pole
return NzEulerAngles<T>(NzDegrees(90.0), NzRadians(2.0 * std::atan2(x, w)), 0.0);
return NzEulerAngles<T>(NzDegrees(F(90.0)), NzRadians(F(2.0) * std::atan2(x, w)), F(0.0));
if (test < -0.499)
return NzEulerAngles<T>(NzDegrees(-90.0), NzRadians(-2.0 * std::atan2(x, w)), 0.0);
if (test < F(-0.499))
return NzEulerAngles<T>(NzDegrees(F(-90.0)), NzRadians(F(-2.0) * std::atan2(x, w)), F(0.0));
T xx = x*x;
T yy = y*y;
T zz = z*z;
return NzEulerAngles<T>(NzRadians(std::atan2(2.0*x*w - 2.0*y*z, 1.0 - 2.0*xx - 2.0*zz)),
NzRadians(std::atan2(2.0*y*w - 2.0*x*z, 1.f - 2.0*yy - 2.0*zz)),
NzRadians(std::asin(2.0*test)));
return NzEulerAngles<T>(NzRadians(std::atan2(F(2.0)*x*w - F(2.0)*y*z, F(1.0) - F(2.0)*xx - F(2.0)*zz)),
NzRadians(std::atan2(F(2.0)*y*w - F(2.0)*x*z, F(1.0) - F(2.0)*yy - F(2.0)*zz)),
NzRadians(std::asin(F(2.0)*test)));
}
template<typename T>
@@ -251,6 +208,20 @@ NzString NzQuaternion<T>::ToString() const
return ss << "Quaternion(" << w << " | " << x << ", " << y << ", " << z << ')';
}
template<typename T>
NzQuaternion<T>::operator NzString() const
{
return ToString();
}
template<typename T>
NzQuaternion<T>& NzQuaternion<T>::operator=(const NzQuaternion& quat)
{
Set(quat);
return *this;
}
template<typename T>
NzQuaternion<T> NzQuaternion<T>::operator+(const NzQuaternion& quat) const
{
@@ -263,10 +234,10 @@ NzQuaternion<T> NzQuaternion<T>::operator+(const NzQuaternion& quat) const
template<typename T>
NzQuaternion<T> NzQuaternion<T>::operator*(const NzQuaternion& quat) const
{
return NzQuaternion(w * quat.w - x * quat.x - y * quat.y - z * quat.z,
w * quat.x + x * quat.w + y * quat.z - z * quat.y,
w * quat.y + y * quat.w + z * quat.x - x * quat.z,
w * quat.z + z * quat.w + x * quat.y - y * quat.x);
return NzQuaternion(w*quat.w - x*quat.x - y*quat.y - z*quat.z,
w*quat.x + x*quat.w + y*quat.z - z*quat.y,
w*quat.y + y*quat.w + z*quat.x - x*quat.z,
w*quat.z + z*quat.w + x*quat.y - y*quat.x);
}
template<typename T>
@@ -276,7 +247,7 @@ NzVector3<T> NzQuaternion<T>::operator*(const NzVector3<T>& vec) const
normal.Normalize();
NzQuaternion qvec(0.0, normal.x, normal.y, normal.z);
NzQuaternion result = operator*(qvec * GetConjugate());
NzQuaternion result(operator*(qvec * GetConjugate()));
return NzVector3<T>(result.x, result.y, result.z);
@@ -360,10 +331,74 @@ bool NzQuaternion<T>::operator>=(const NzQuaternion& quat) const
return !operator<(quat);
}
template<typename T>
NzQuaternion<T> NzQuaternion<T>::Identity()
{
NzQuaternion quaternion;
quaternion.MakeIdentity();
return quaternion;
}
template<typename T>
NzQuaternion<T> NzQuaternion<T>::Slerp(const NzQuaternion& quatA, const NzQuaternion& quatB, T interp)
{
if (interp <= F(0.0))
return quatA;
if (interp >= F(1.0))
return quatB;
NzQuaternion q;
T cosOmega = quatA.DotProduct(quatB);
if (cosOmega < F(0.0))
{
// On inverse tout
q.Set(-quatB.w, -quatB.x, -quatB.y, -quatB.z);
cosOmega = -cosOmega;
}
else
q.Set(quatB);
T k0, k1;
if (cosOmega > F(0.9999))
{
// Interpolation linéaire pour éviter une division par zéro
k0 = F(1.0) - interp;
k1 = interp;
}
else
{
T sinOmega = std::sqrt(F(1.0) - cosOmega*cosOmega);
T omega = std::atan2(sinOmega, cosOmega);
// Pour éviter deux divisions
sinOmega = F(1.0)/sinOmega;
k0 = std::sin((F(1.0) - interp) * omega) * sinOmega;
k1 = std::sin(interp*omega) * sinOmega;
}
NzQuaternion result(k0 * quatA.w, k0 * quatA.x, k0 * quatA.y, k0 * quatA.z);
return result += q*k1;
}
template<typename T>
NzQuaternion<T> NzQuaternion<T>::Zero()
{
NzQuaternion quaternion;
quaternion.MakeZero();
return quaternion;
}
template<typename T>
std::ostream& operator<<(std::ostream& out, const NzQuaternion<T>& quat)
{
return out << quat.ToString();
}
#undef F
#include <Nazara/Core/DebugOff.hpp>