Remove Quaternion constructor with Euler angles and replace it by static fromEulerAngles() method
This commit is contained in:
Daniel Chappuis
parent
c8e9cca912
commit
317dea90bd
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@ -47,14 +47,28 @@ Quaternion::Quaternion(decimal newW, const Vector3& v) : x(v.x), y(v.y), z(v.z),
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}
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// Constructor which convert Euler angles (in radians) to a quaternion
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Quaternion::Quaternion(decimal angleX, decimal angleY, decimal angleZ) {
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initWithEulerAngles(angleX, angleY, angleZ);
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// Constructor with the component w and the vector v=(x y z)
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Quaternion::Quaternion(const Vector3& v, decimal newW) : x(v.x), y(v.y), z(v.z), w(newW) {
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}
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// Constructor which convert Euler angles (in radians) to a quaternion
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Quaternion::Quaternion(const Vector3& eulerAngles) {
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initWithEulerAngles(eulerAngles.x, eulerAngles.y, eulerAngles.z);
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// Return a quaternion constructed from Euler angles (in radians)
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Quaternion Quaternion::fromEulerAngles(decimal angleX, decimal angleY, decimal angleZ) {
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Quaternion quaternion;
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quaternion.initWithEulerAngles(angleX, angleY, angleZ);
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return quaternion;
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}
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// Return a quaternion constructed from Euler angles (in radians)
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Quaternion Quaternion::fromEulerAngles(const Vector3& eulerAngles) {
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Quaternion quaternion;
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quaternion.initWithEulerAngles(eulerAngles.x, eulerAngles.y, eulerAngles.z);
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return quaternion;
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}
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// Copy-constructor
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@ -72,10 +86,10 @@ Quaternion::Quaternion(const Matrix3x3& matrix) {
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decimal r;
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decimal s;
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if (trace < 0.0) {
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if (trace < decimal(0.0)) {
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if (matrix[1][1] > matrix[0][0]) {
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if(matrix[2][2] > matrix[1][1]) {
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r = sqrt(matrix[2][2] - matrix[0][0] - matrix[1][1] + decimal(1.0));
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r = std::sqrt(matrix[2][2] - matrix[0][0] - matrix[1][1] + decimal(1.0));
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s = decimal(0.5) / r;
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// Compute the quaternion
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@ -85,7 +99,7 @@ Quaternion::Quaternion(const Matrix3x3& matrix) {
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w = (matrix[1][0] - matrix[0][1]) * s;
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}
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else {
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r = sqrt(matrix[1][1] - matrix[2][2] - matrix[0][0] + decimal(1.0));
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r = std::sqrt(matrix[1][1] - matrix[2][2] - matrix[0][0] + decimal(1.0));
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s = decimal(0.5) / r;
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// Compute the quaternion
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@ -96,7 +110,7 @@ Quaternion::Quaternion(const Matrix3x3& matrix) {
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}
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}
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else if (matrix[2][2] > matrix[0][0]) {
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r = sqrt(matrix[2][2] - matrix[0][0] - matrix[1][1] + decimal(1.0));
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r = std::sqrt(matrix[2][2] - matrix[0][0] - matrix[1][1] + decimal(1.0));
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s = decimal(0.5) / r;
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// Compute the quaternion
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@ -106,7 +120,7 @@ Quaternion::Quaternion(const Matrix3x3& matrix) {
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w = (matrix[1][0] - matrix[0][1]) * s;
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}
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else {
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r = sqrt(matrix[0][0] - matrix[1][1] - matrix[2][2] + decimal(1.0));
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r = std::sqrt(matrix[0][0] - matrix[1][1] - matrix[2][2] + decimal(1.0));
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s = decimal(0.5) / r;
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// Compute the quaternion
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@ -117,7 +131,7 @@ Quaternion::Quaternion(const Matrix3x3& matrix) {
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}
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}
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else {
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r = sqrt(trace + decimal(1.0));
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r = std::sqrt(trace + decimal(1.0));
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s = decimal(0.5) / r;
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// Compute the quaternion
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@ -132,22 +146,12 @@ Quaternion::Quaternion(const Matrix3x3& matrix) {
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/// This method is used to get the rotation angle (in radian) and the unit
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/// rotation axis of an orientation quaternion.
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void Quaternion::getRotationAngleAxis(decimal& angle, Vector3& axis) const {
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Quaternion quaternion;
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// If the quaternion is unit
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if (length() == 1.0) {
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quaternion = *this;
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}
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else {
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// We compute the unit quaternion
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quaternion = getUnit();
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}
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// Compute the roation angle
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angle = acos(quaternion.w) * decimal(2.0);
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angle = std::acos(w) * decimal(2.0);
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// Compute the 3D rotation axis
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Vector3 rotationAxis(quaternion.x, quaternion.y, quaternion.z);
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Vector3 rotationAxis(x, y, z);
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// Normalize the rotation axis
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rotationAxis = rotationAxis.getUnit();
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@ -162,7 +166,7 @@ Matrix3x3 Quaternion::getMatrix() const {
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decimal nQ = x*x + y*y + z*z + w*w;
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decimal s = 0.0;
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if (nQ > 0.0) {
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if (nQ > decimal(0.0)) {
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s = decimal(2.0) / nQ;
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}
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@ -190,7 +194,7 @@ Matrix3x3 Quaternion::getMatrix() const {
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/// The t argument has to be such that 0 <= t <= 1. This method is static.
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Quaternion Quaternion::slerp(const Quaternion& quaternion1,
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const Quaternion& quaternion2, decimal t) {
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assert(t >= 0.0 && t <= 1.0);
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assert(t >= decimal(0.0) && t <= decimal(1.0));
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decimal invert = 1.0;
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@ -198,7 +202,7 @@ Quaternion Quaternion::slerp(const Quaternion& quaternion1,
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decimal cosineTheta = quaternion1.dot(quaternion2);
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// Take care of the sign of cosineTheta
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if (cosineTheta < 0.0) {
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if (cosineTheta < decimal(0.0)) {
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cosineTheta = -cosineTheta;
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invert = -1.0;
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}
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@ -212,14 +216,14 @@ Quaternion Quaternion::slerp(const Quaternion& quaternion1,
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}
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// Compute the theta angle
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decimal theta = acos(cosineTheta);
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decimal theta = std::acos(cosineTheta);
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// Compute sin(theta)
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decimal sineTheta = sin(theta);
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decimal sineTheta = std::sin(theta);
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// Compute the two coefficients that are in the spherical linear interpolation formula
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decimal coeff1 = sin((decimal(1.0)-t)*theta) / sineTheta;
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decimal coeff2 = sin(t*theta) / sineTheta * invert;
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decimal coeff1 = std::sin((decimal(1.0)-t)*theta) / sineTheta;
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decimal coeff2 = std::sin(t*theta) / sineTheta * invert;
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// Compute and return the interpolated quaternion
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return quaternion1 * coeff1 + quaternion2 * coeff2;
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@ -69,11 +69,8 @@ struct Quaternion {
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/// Constructor with the component w and the vector v=(x y z)
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Quaternion(decimal newW, const Vector3& v);
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/// Constructor which convert Euler angles (in radians) to a quaternion
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Quaternion(decimal angleX, decimal angleY, decimal angleZ);
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/// Constructor which convert Euler angles (in radians) to a quaternion
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Quaternion(const Vector3& eulerAngles);
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/// Constructor with the component w and the vector v=(x y z)
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Quaternion(const Vector3& v, decimal newW);
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/// Copy-constructor
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Quaternion(const Quaternion& quaternion);
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@ -123,6 +120,12 @@ struct Quaternion {
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/// Return the identity quaternion
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static Quaternion identity();
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/// Return a quaternion constructed from Euler angles (in radians)
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static Quaternion fromEulerAngles(decimal angleX, decimal angleY, decimal angleZ);
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/// Return a quaternion constructed from Euler angles (in radians)
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static Quaternion fromEulerAngles(const Vector3& eulerAngles);
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/// Dot product between two quaternions
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decimal dot(const Quaternion& quaternion) const;
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@ -228,7 +231,6 @@ inline void Quaternion::inverse() {
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x = -x;
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y = -y;
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z = -z;
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w = w;
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}
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// Return the unit quaternion
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@ -93,7 +93,7 @@ class TestPointInside : public Test {
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// Body transform
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Vector3 position(-3, 2, 7);
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Quaternion orientation(PI / 5, PI / 6, PI / 7);
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Quaternion orientation = Quaternion::fromEulerAngles(PI / 5, PI / 6, PI / 7);
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mBodyTransform = Transform(position, orientation);
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// Create the bodies
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@ -108,7 +108,7 @@ class TestPointInside : public Test {
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// Collision shape transform
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Vector3 shapePosition(1, -4, -3);
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Quaternion shapeOrientation(3 * PI / 6 , -PI / 8, PI / 3);
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Quaternion shapeOrientation = Quaternion::fromEulerAngles(3 * PI / 6 , -PI / 8, PI / 3);
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mShapeTransform = Transform(shapePosition, shapeOrientation);
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// Compute the the transform from a local shape point to world-space
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@ -165,7 +165,7 @@ class TestPointInside : public Test {
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// Compound shape is a capsule and a sphere
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Vector3 positionShape2(Vector3(4, 2, -3));
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Quaternion orientationShape2(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
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Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
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Transform shapeTransform2(positionShape2, orientationShape2);
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mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
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mCompoundBody->addCollisionShape(mCapsuleShape, mShapeTransform);
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@ -169,7 +169,7 @@ class TestRaycast : public Test {
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// Body transform
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Vector3 position(-3, 2, 7);
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Quaternion orientation(PI / 5, PI / 6, PI / 7);
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Quaternion orientation = Quaternion::fromEulerAngles(PI / 5, PI / 6, PI / 7);
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mBodyTransform = Transform(position, orientation);
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// Create the bodies
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@ -185,7 +185,7 @@ class TestRaycast : public Test {
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// Collision shape transform
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Vector3 shapePosition(1, -4, -3);
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Quaternion shapeOrientation(3 * PI / 6 , -PI / 8, PI / 3);
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Quaternion shapeOrientation = Quaternion::fromEulerAngles(3 * PI / 6 , -PI / 8, PI / 3);
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mShapeTransform = Transform(shapePosition, shapeOrientation);
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// Compute the the transform from a local shape point to world-space
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@ -246,7 +246,7 @@ class TestRaycast : public Test {
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// Compound shape is a cylinder and a sphere
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Vector3 positionShape2(Vector3(4, 2, -3));
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Quaternion orientationShape2(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
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Quaternion orientationShape2 = Quaternion::fromEulerAngles(-3 *PI / 8, 1.5 * PI/ 3, PI / 13);
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Transform shapeTransform2(positionShape2, orientationShape2);
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mLocalShape2ToWorld = mBodyTransform * shapeTransform2;
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mCompoundCapsuleProxyShape = mCompoundBody->addCollisionShape(mCapsuleShape, mShapeTransform);
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@ -94,7 +94,7 @@ class TestQuaternion : public Test {
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const decimal PI_OVER_2 = PI * decimal(0.5);
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const decimal PI_OVER_4 = PI_OVER_2 * decimal(0.5);
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Quaternion quaternion5(PI_OVER_2, 0, 0);
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Quaternion quaternion5 = Quaternion::fromEulerAngles(PI_OVER_2, 0, 0);
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Quaternion quaternionTest5(std::sin(PI_OVER_4), 0, 0, std::cos(PI_OVER_4));
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quaternionTest5.normalize();
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test(approxEqual(quaternion5.x, quaternionTest5.x));
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@ -102,7 +102,7 @@ class TestQuaternion : public Test {
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test(approxEqual(quaternion5.z, quaternionTest5.z));
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test(approxEqual(quaternion5.w, quaternionTest5.w));
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Quaternion quaternion6(0, PI_OVER_2, 0);
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Quaternion quaternion6 = Quaternion::fromEulerAngles(0, PI_OVER_2, 0);
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Quaternion quaternionTest6(0, std::sin(PI_OVER_4), 0, std::cos(PI_OVER_4));
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quaternionTest6.normalize();
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test(approxEqual(quaternion6.x, quaternionTest6.x));
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@ -110,7 +110,7 @@ class TestQuaternion : public Test {
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test(approxEqual(quaternion6.z, quaternionTest6.z));
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test(approxEqual(quaternion6.w, quaternionTest6.w));
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Quaternion quaternion7(Vector3(0, 0, PI_OVER_2));
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Quaternion quaternion7 = Quaternion::fromEulerAngles(Vector3(0, 0, PI_OVER_2));
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Quaternion quaternionTest7(0, 0, std::sin(PI_OVER_4), std::cos(PI_OVER_4));
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quaternionTest7.normalize();
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test(approxEqual(quaternion7.x, quaternionTest7.x));
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@ -124,7 +124,7 @@ class TestQuaternion : public Test {
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// Test method that returns the length
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Quaternion quaternion(2, 3, -4, 5);
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test(approxEqual(quaternion.length(), sqrt(decimal(54.0))));
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test(approxEqual(quaternion.length(), std::sqrt(decimal(54.0))));
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// Test method that returns a unit quaternion
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test(approxEqual(quaternion.getUnit().length(), 1.0));
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@ -282,32 +282,32 @@ bool CollisionDetectionScene::keyboardEvent(int key, int scancode, int action, i
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}
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else if (key == GLFW_KEY_A && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion(0, stepAngle, 0) * transform.getOrientation());
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, stepAngle, 0) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_D && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion(0, -stepAngle, 0) * transform.getOrientation());
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, -stepAngle, 0) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_W && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion(stepAngle, 0, 0) * transform.getOrientation());
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(stepAngle, 0, 0) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_S && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion(-stepAngle, 0, 0) * transform.getOrientation());
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(-stepAngle, 0, 0) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_F && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion(0, 0, stepAngle) * transform.getOrientation());
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, stepAngle) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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else if (key == GLFW_KEY_G && action == GLFW_PRESS) {
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rp3d::Transform transform = mAllShapes[mSelectedShapeIndex]->getTransform();
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transform.setOrientation(rp3d::Quaternion(0, 0, -stepAngle) * transform.getOrientation());
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transform.setOrientation(rp3d::Quaternion::fromEulerAngles(0, 0, -stepAngle) * transform.getOrientation());
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mAllShapes[mSelectedShapeIndex]->setTransform(transform);
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}
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