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Slerp 

Quaternion Slerp
This commit is contained in:
Dander7BD 2014-01-24 17:39:09 +01:00
parent 2da3dd29fc
commit b4eb3eb25d
2 changed files with 31 additions and 0 deletions
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25
Code/OysterMath/LinearMath.h
View File

@ -204,6 +204,19 @@ namespace LinearAlgebra
} }
return output; // error: returning nullvector return output; // error: returning nullvector
} }
/********************************************************************
* Spherical Linear Interpolation on Quaternions
********************************************************************/
template<typename ScalarType>
inline Quaternion<ScalarType> Slerp( const Quaternion<ScalarType> &start, const Quaternion<ScalarType> &end, const ScalarType &t )
{
ScalarType angle = (ScalarType)::std::acos( Vector4(start.imaginary, start.real).Dot(Vector4(end.imaginary, end.real)) );
Quaternion<ScalarType> result = start * (ScalarType)::std::sin( angle * (1 - t) );
result += end * (ScalarType)::std::sin( angle * t );
result *= (ScalarType)1.0f / (ScalarType)::std::sin( angle );
return result;
}
} }
namespace LinearAlgebra2D namespace LinearAlgebra2D
@ -766,6 +779,18 @@ namespace LinearAlgebra3D
targetMem.v[3] = ::LinearAlgebra::Lerp( start.v[3], end.v[3], t ); targetMem.v[3] = ::LinearAlgebra::Lerp( start.v[3], end.v[3], t );
return targetMem; return targetMem;
} }
template<typename ScalarType>
::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateOrientation_UsingNonRigidNlerp( const ::LinearAlgebra::Quaternion<ScalarType> &startR, const ::LinearAlgebra::Vector3<ScalarType> &startT, const ::LinearAlgebra::Quaternion<ScalarType> &endR, const ::LinearAlgebra::Vector3<ScalarType> &endT, ScalarType t, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
{
return InterpolateOrientation_UsingNonRigidNlerp( OrientationMatrix(startR, startT), OrientationMatrix(endR, endT), t, targetMem );
}
template<typename ScalarType>
::LinearAlgebra::Matrix4x4<ScalarType> & InterpolateOrientation_UsingSlerp( const ::LinearAlgebra::Quaternion<ScalarType> &startR, const ::LinearAlgebra::Vector3<ScalarType> &startT, const ::LinearAlgebra::Quaternion<ScalarType> &endR, const ::LinearAlgebra::Vector3<ScalarType> &endT, ScalarType t, ::LinearAlgebra::Matrix4x4<ScalarType> &targetMem )
{
return OrientationMatrix( ::LinearAlgebra::Slerp(startR, endR, t), ::LinearAlgebra::Lerp(::LinearAlgebra::Vector4<ScalarType>(startT, (ScalarType)1.0f), ::LinearAlgebra::Vector4<ScalarType>(endT, (ScalarType)1.0f), t).xyz, targetMem );
}
} }
#include "Utilities.h" #include "Utilities.h"

6
Code/OysterMath/OysterMath.h
View File

@ -57,6 +57,11 @@ namespace Oyster { namespace Math //! Oyster's native math library
* @return nullvector if Lerp( start, end, t ) is nullvector. * @return nullvector if Lerp( start, end, t ) is nullvector.
********************************************************************/ ********************************************************************/
using ::LinearAlgebra::Nlerp; using ::LinearAlgebra::Nlerp;
/********************************************************************
* Spherical Linear Interpolation on Quaternions
********************************************************************/
using ::LinearAlgebra::Slerp;
} } } }
inline ::Oyster::Math::Float2 & operator *= ( ::Oyster::Math::Float2 &left, const ::Oyster::Math::Float2 &right ) inline ::Oyster::Math::Float2 & operator *= ( ::Oyster::Math::Float2 &left, const ::Oyster::Math::Float2 &right )
@ -344,6 +349,7 @@ namespace Oyster { namespace Math3D //! Oyster's native math library specialized
using ::LinearAlgebra3D::SnapAxisYToNormal_UsingNlerp; using ::LinearAlgebra3D::SnapAxisYToNormal_UsingNlerp;
using ::LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp; using ::LinearAlgebra3D::InterpolateAxisYToNormal_UsingNlerp;
using ::LinearAlgebra3D::InterpolateOrientation_UsingNonRigidNlerp; using ::LinearAlgebra3D::InterpolateOrientation_UsingNonRigidNlerp;
using ::LinearAlgebra3D::InterpolateOrientation_UsingSlerp;
} } } }
#endif #endif