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- fixed minor quaternion bugs

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- implemented CreateFrom... quaternion methods
- quaternion seems to be feature complete
This commit is contained in:
SND\GinieDp_cp 2011-11-11 23:21:26 +00:00
parent 972f7121e8
commit 4105de3c1a
2 changed files with 86 additions and 16 deletions
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9
ANX.Framework.TestCenter/Strukturen/QuaternionTest.cs
View File

@ -174,11 +174,10 @@ namespace ANX.Framework.TestCenter.Strukturen
float nop0, float nop1, float nop2, float nop3)
{
XNAQuaternion xna = new XNAQuaternion(x, y, z, w);
ANXQuaternion anx = new ANXQuaternion(x, y, z, w);
XNAQuaternion.Conjugate(xna);
ANXQuaternion.Conjugate(anx);
xna = XNAQuaternion.Conjugate(xna);
anx = ANXQuaternion.Conjugate(anx);
AssertHelper.ConvertEquals(xna, anx, "ConjugateStatic");
}
@ -198,9 +197,11 @@ namespace ANX.Framework.TestCenter.Strukturen
public void CreateFromRotationMatrixStatic(float m11, float m12, float m13, float m14, float m21, float m22, float m23, float m24, float m31, float m32, float m33, float m34, float m41, float m42, float m43, float m44)
{
XNAQuaternion xna = XNAQuaternion.CreateFromRotationMatrix(new Microsoft.Xna.Framework.Matrix(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44));
ANXQuaternion anx = ANXQuaternion.CreateFromRotationMatrix(new ANX.Framework.Matrix(m11, m12, m13, m14, m21, m22, m23, m24, m31, m32, m33, m34, m41, m42, m43, m44));
xna.Normalize();
anx.Normalize();
AssertHelper.ConvertEquals(xna, anx, "CreateFromRotationMatrixStatic");
}

93
ANX.Framework/Quaternion.cs
View File

@ -111,7 +111,6 @@ namespace ANX.Framework
public static Quaternion Concatenate(Quaternion value1, Quaternion value2)
{
Quaternion result;
Quaternion.Concatenate(ref value1, ref value2, out result);
return result;
@ -125,9 +124,7 @@ namespace ANX.Framework
public void Conjugate()
{
this.X = -this.X; //should be =this.X;
this.Y = -this.Y;
this.Z = -this.Z;
@ -142,7 +139,7 @@ namespace ANX.Framework
public static void Conjugate(ref Quaternion value, out Quaternion result)
{
result.X = value.X;
result.X = -value.X;
result.Y = -value.Y;
result.Z = -value.Z;
result.W = value.W;
@ -157,7 +154,14 @@ namespace ANX.Framework
public static void CreateFromAxisAngle(ref Vector3 axis, float angle, out Quaternion result)
{
throw new NotImplementedException();
angle *= 0.5f;
float sinAngle = (float)Math.Sin(angle);
float cosAngle = (float)Math.Cos(angle);
result.X = axis.X * sinAngle;
result.Y = axis.Y * sinAngle;
result.Z = axis.Z * sinAngle;
result.W = cosAngle;
}
public static Quaternion CreateFromRotationMatrix(Matrix matrix)
@ -169,7 +173,45 @@ namespace ANX.Framework
public static void CreateFromRotationMatrix(ref Matrix matrix, out Quaternion result)
{
throw new NotImplementedException();
// http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
float tr = matrix.M11 + matrix.M22 + matrix.M33;
if (tr > 0f)
{
float s = (float)Math.Sqrt(tr + 1f);
result.W = s * 0.5f;
s = 0.5f / s;
result.X = (matrix.M23 - matrix.M32) * s;
result.Y = (matrix.M31 - matrix.M13) * s;
result.Z = (matrix.M12 - matrix.M21) * s;
}
else if ((matrix.M11 >= matrix.M22) && (matrix.M11 >= matrix.M33))
{
float s = (float)Math.Sqrt(1f + matrix.M11 - matrix.M22 - matrix.M33);
float s2 = 0.5f / s;
result.W = (matrix.M23 - matrix.M32) * s2;
result.X = 0.5f * s;
result.Y = (matrix.M12 + matrix.M21) * s2;
result.Z = (matrix.M13 + matrix.M31) * s2;
}
else if (matrix.M22 > matrix.M33)
{
float s = (float)Math.Sqrt(1f + matrix.M22 - matrix.M11 - matrix.M33);
float s2 = 0.5f / s;
result.W = (matrix.M31 - matrix.M13) * s2;
result.X = (matrix.M21 + matrix.M12) * s2;
result.Y = 0.5f * s;
result.Z = (matrix.M32 + matrix.M23) * s2;
}
else
{
float s = (float)Math.Sqrt(1f + matrix.M33 - matrix.M11 - matrix.M22);
float ss = 0.5f / s;
result.W = (matrix.M12 - matrix.M21) * ss;
result.X = (matrix.M31 + matrix.M13) * ss;
result.Y = (matrix.M32 + matrix.M23) * ss;
result.Z = 0.5f * s;
}
}
public static Quaternion CreateFromYawPitchRoll(float yaw, float pitch, float roll)
@ -181,7 +223,20 @@ namespace ANX.Framework
public static void CreateFromYawPitchRoll(float yaw, float pitch, float roll, out Quaternion result)
{
throw new NotImplementedException();
Vector3 yawAxis = Vector3.Up;
Vector3 pitchAxis = Vector3.Right;
Vector3 rollAxis = Vector3.Backward;
Quaternion yawQuat;
Quaternion pitchQuat;
Quaternion rollQuat;
Quaternion.CreateFromAxisAngle(ref yawAxis, yaw, out yawQuat);
Quaternion.CreateFromAxisAngle(ref pitchAxis, pitch, out pitchQuat);
Quaternion.CreateFromAxisAngle(ref rollAxis, roll, out rollQuat);
Quaternion.Multiply(ref yawQuat, ref pitchQuat, out result);
Quaternion.Multiply(ref result, ref rollQuat, out result);
}
public static Quaternion Divide(Quaternion quaternion1, Quaternion quaternion2)
@ -267,7 +322,19 @@ namespace ANX.Framework
public static void Lerp(ref Quaternion quaternion1, ref Quaternion quaternion2, float amount, out Quaternion result)
{
throw new NotImplementedException();
float dotProduct;
Quaternion.Dot(ref quaternion1, ref quaternion2, out dotProduct);
float amount1 = 1.0f - amount;
if (dotProduct < 0)
{
amount = -amount;
}
result.X = amount1 * quaternion1.X + amount * quaternion2.X;
result.Y = amount1 * quaternion1.Y + amount * quaternion2.Y;
result.Z = amount1 * quaternion1.Z + amount * quaternion2.Z;
result.W = amount1 * quaternion1.W + amount * quaternion2.W;
result.Normalize();
}
public static Quaternion Multiply(Quaternion quaternion1, Quaternion quaternion2)
@ -279,10 +346,12 @@ namespace ANX.Framework
public static void Multiply(ref Quaternion quaternion1, ref Quaternion quaternion2, out Quaternion result)
{
result.X = quaternion1.W * quaternion2.X + quaternion1.X * quaternion2.W + quaternion1.Y * quaternion2.Z - quaternion1.Z * quaternion2.Y;
result.Y = quaternion1.W * quaternion2.Y - quaternion1.X * quaternion2.Z + quaternion1.Y * quaternion2.W + quaternion1.Z * quaternion2.X;
result.Z = quaternion1.W * quaternion2.Z + quaternion1.X * quaternion2.Y - quaternion1.Y * quaternion2.X + quaternion1.Z * quaternion2.W;
result.W = quaternion1.W * quaternion2.W - quaternion1.X * quaternion2.X - quaternion1.Y * quaternion2.Y - quaternion1.Z * quaternion2.Z;
Quaternion temp;
temp.X = quaternion1.W * quaternion2.X + quaternion1.X * quaternion2.W + quaternion1.Y * quaternion2.Z - quaternion1.Z * quaternion2.Y;
temp.Y = quaternion1.W * quaternion2.Y - quaternion1.X * quaternion2.Z + quaternion1.Y * quaternion2.W + quaternion1.Z * quaternion2.X;
temp.Z = quaternion1.W * quaternion2.Z + quaternion1.X * quaternion2.Y - quaternion1.Y * quaternion2.X + quaternion1.Z * quaternion2.W;
temp.W = quaternion1.W * quaternion2.W - quaternion1.X * quaternion2.X - quaternion1.Y * quaternion2.Y - quaternion1.Z * quaternion2.Z;
result = temp;
}
public static Quaternion Multiply(Quaternion quaternion1, float scaleFactor)