From 7dedb84fd07f81cbe3f7c299b7e6e3f4e9959391 Mon Sep 17 00:00:00 2001 From: Ray Date: Sat, 30 Jun 2018 22:00:16 +0200 Subject: [PATCH] Added function: Vector3RotateByQuaternion() Rotate a Vector3 by a Quaternion --- src/raymath.h | 148 +++++++++++++++++++++++++++----------------------- 1 file changed, 80 insertions(+), 68 deletions(-) diff --git a/src/raymath.h b/src/raymath.h index 51a9e6dbd..a574dd0d0 100644 --- a/src/raymath.h +++ b/src/raymath.h @@ -12,9 +12,9 @@ * #define RAYMATH_HEADER_ONLY * Define static inline functions code, so #include header suffices for use. * This may use up lots of memory. -* +* * #define RAYMATH_STANDALONE -* Avoid raylib.h header inclusion in this file. +* Avoid raylib.h header inclusion in this file. * Vector3 and Matrix data types are defined internally in raymath module. * * @@ -94,7 +94,7 @@ // Return float vector for Vector3 #ifndef Vector3ToFloat - #define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v) + #define Vector3ToFloat(vec) (Vector3ToFloatV(vec).v) #endif //---------------------------------------------------------------------------------- @@ -122,20 +122,20 @@ float m2, m6, m10, m14; float m3, m7, m11, m15; } Matrix; + + // Quaternion type + typedef struct Quaternion { + float x; + float y; + float z; + float w; + } Quaternion; #endif // NOTE: Helper types to be used instead of array return types for *ToFloat functions typedef struct float3 { float v[3]; } float3; typedef struct float16 { float v[16]; } float16; -// Quaternion type -typedef struct Quaternion { - float x; - float y; - float z; - float w; -} Quaternion; - #include // Required for: sinf(), cosf(), tan(), fabs() //---------------------------------------------------------------------------------- @@ -143,7 +143,7 @@ typedef struct Quaternion { //---------------------------------------------------------------------------------- // Clamp float value -RMDEF float Clamp(float value, float min, float max) +RMDEF float Clamp(float value, float min, float max) { const float res = value < min ? min : value; return res > max ? max : res; @@ -154,15 +154,15 @@ RMDEF float Clamp(float value, float min, float max) //---------------------------------------------------------------------------------- // Vector with components value 0.0f -RMDEF Vector2 Vector2Zero(void) -{ +RMDEF Vector2 Vector2Zero(void) +{ Vector2 result = { 0.0f, 0.0f }; return result; } // Vector with components value 1.0f -RMDEF Vector2 Vector2One(void) -{ +RMDEF Vector2 Vector2One(void) +{ Vector2 result = { 1.0f, 1.0f }; return result; } @@ -243,31 +243,31 @@ RMDEF Vector2 Vector2Normalize(Vector2 v) //---------------------------------------------------------------------------------- // Vector with components value 0.0f -RMDEF Vector3 Vector3Zero(void) -{ +RMDEF Vector3 Vector3Zero(void) +{ Vector3 result = { 0.0f, 0.0f, 0.0f }; - return result; + return result; } // Vector with components value 1.0f -RMDEF Vector3 Vector3One(void) -{ +RMDEF Vector3 Vector3One(void) +{ Vector3 result = { 1.0f, 1.0f, 1.0f }; - return result; + return result; } // Add two vectors RMDEF Vector3 Vector3Add(Vector3 v1, Vector3 v2) { Vector3 result = { v1.x + v2.x, v1.y + v2.y, v1.z + v2.z }; - return result; + return result; } // Substract two vectors RMDEF Vector3 Vector3Subtract(Vector3 v1, Vector3 v2) { Vector3 result = { v1.x - v2.x, v1.y - v2.y, v1.z - v2.z }; - return result; + return result; } // Multiply vector by scalar @@ -279,7 +279,7 @@ RMDEF Vector3 Vector3Multiply(Vector3 v, float scalar) // Multiply vector by vector RMDEF Vector3 Vector3MultiplyV(Vector3 v1, Vector3 v2) -{ +{ Vector3 result = { v1.x*v2.x, v1.y*v2.y, v1.z*v2.z }; return result; } @@ -359,7 +359,7 @@ RMDEF Vector3 Vector3Negate(Vector3 v) RMDEF Vector3 Vector3Normalize(Vector3 v) { Vector3 result = v; - + float length, ilength; length = Vector3Length(v); if (length == 0.0f) length = 1.0f; @@ -394,10 +394,22 @@ RMDEF Vector3 Vector3Transform(Vector3 v, Matrix mat) result.x = mat.m0*x + mat.m4*y + mat.m8*z + mat.m12; result.y = mat.m1*x + mat.m5*y + mat.m9*z + mat.m13; result.z = mat.m2*x + mat.m6*y + mat.m10*z + mat.m14; - + return result; }; +// Transform a vector by quaternion rotation +RMDEF Vector3 Vector3RotateByQuaternion(Vector3 v, Quaternion q) +{ + Vector3 result = { 0 }; + + result.x = v.x*(q.x*q.x + q.w*q.w - q.y*q.y - q.z*q.z) + v.y*(2*q.x*q.y - 2*q.w*q.z) + v.z*(2*q.x*q.z + 2*q.w*q.y); + result.y = v.x*(2*q.w*q.z + 2*q.x*q.y) + v.y*(q.w*q.w - q.x*q.x + q.y*q.y - q.z*q.z) + v.z*(-2*q.w*q.x + 2*q.y*q.z); + result.z = v.x*(-2*q.w*q.y + 2*q.x*q.z) + v.y*(2*q.w*q.x + 2*q.y*q.z)+ v.z*(q.w*q.w - q.x*q.x - q.y*q.y + q.z*q.z); + + return result; +} + // Calculate linear interpolation between two vectors RMDEF Vector3 Vector3Lerp(Vector3 v1, Vector3 v2, float amount) { @@ -432,11 +444,11 @@ RMDEF Vector3 Vector3Reflect(Vector3 v, Vector3 normal) RMDEF Vector3 Vector3Min(Vector3 v1, Vector3 v2) { Vector3 result = { 0 }; - + result.x = fminf(v1.x, v2.x); result.y = fminf(v1.y, v2.y); result.z = fminf(v1.z, v2.z); - + return result; } @@ -444,11 +456,11 @@ RMDEF Vector3 Vector3Min(Vector3 v1, Vector3 v2) RMDEF Vector3 Vector3Max(Vector3 v1, Vector3 v2) { Vector3 result = { 0 }; - + result.x = fmaxf(v1.x, v2.x); result.y = fmaxf(v1.y, v2.y); result.z = fmaxf(v1.z, v2.z); - + return result; } @@ -457,7 +469,7 @@ RMDEF Vector3 Vector3Max(Vector3 v1, Vector3 v2) RMDEF Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c) { //Vector v0 = b - a, v1 = c - a, v2 = p - a; - + Vector3 v0 = Vector3Subtract(b, a); Vector3 v1 = Vector3Subtract(c, a); Vector3 v2 = Vector3Subtract(p, a); @@ -466,15 +478,15 @@ RMDEF Vector3 Vector3Barycenter(Vector3 p, Vector3 a, Vector3 b, Vector3 c) float d11 = Vector3DotProduct(v1, v1); float d20 = Vector3DotProduct(v2, v0); float d21 = Vector3DotProduct(v2, v1); - + float denom = d00*d11 - d01*d01; - + Vector3 result = { 0 }; - + result.y = (d11*d20 - d01*d21)/denom; result.z = (d00*d21 - d01*d20)/denom; result.x = 1.0f - (result.z + result.y); - + return result; } @@ -598,7 +610,7 @@ RMDEF Matrix MatrixInvert(Matrix mat) RMDEF Matrix MatrixNormalize(Matrix mat) { Matrix result = { 0 }; - + float det = MatrixDeterminant(mat); result.m0 = mat.m0/det; @@ -617,15 +629,15 @@ RMDEF Matrix MatrixNormalize(Matrix mat) result.m13 = mat.m13/det; result.m14 = mat.m14/det; result.m15 = mat.m15/det; - + return result; } // Returns identity matrix RMDEF Matrix MatrixIdentity(void) { - Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f, - 0.0f, 1.0f, 0.0f, 0.0f, + Matrix result = { 1.0f, 0.0f, 0.0f, 0.0f, + 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f }; @@ -685,9 +697,9 @@ RMDEF Matrix MatrixSubstract(Matrix left, Matrix right) // Returns translation matrix RMDEF Matrix MatrixTranslate(float x, float y, float z) { - Matrix result = { 1.0f, 0.0f, 0.0f, x, - 0.0f, 1.0f, 0.0f, y, - 0.0f, 0.0f, 1.0f, z, + Matrix result = { 1.0f, 0.0f, 0.0f, x, + 0.0f, 1.0f, 0.0f, y, + 0.0f, 0.0f, 1.0f, z, 0.0f, 0.0f, 0.0f, 1.0f }; return result; @@ -724,12 +736,12 @@ RMDEF Matrix MatrixRotate(Vector3 axis, float angle) result.m5 = y*y*t + cosres; result.m6 = z*y*t + x*sinres; result.m7 = 0.0f; - + result.m8 = x*z*t + y*sinres; result.m9 = y*z*t - x*sinres; result.m10 = z*z*t + cosres; result.m11 = 0.0f; - + result.m12 = 0.0f; result.m13 = 0.0f; result.m14 = 0.0f; @@ -789,9 +801,9 @@ RMDEF Matrix MatrixRotateZ(float angle) // Returns scaling matrix RMDEF Matrix MatrixScale(float x, float y, float z) { - Matrix result = { x, 0.0f, 0.0f, 0.0f, - 0.0f, y, 0.0f, 0.0f, - 0.0f, 0.0f, z, 0.0f, + Matrix result = { x, 0.0f, 0.0f, 0.0f, + 0.0f, y, 0.0f, 0.0f, + 0.0f, 0.0f, z, 0.0f, 0.0f, 0.0f, 0.0f, 1.0f }; return result; @@ -859,11 +871,11 @@ RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top, // NOTE: Angle should be provided in radians RMDEF Matrix MatrixPerspective(double fovy, double aspect, double near, double far) { - double top = near*tan(fovy*0.5); + double top = near*tan(fovy*0.5); double right = top*aspect; Matrix result = MatrixFrustum(-right, right, -top, top, near, far); - return result; + return result; } // Returns orthographic projection matrix @@ -906,7 +918,7 @@ RMDEF Matrix MatrixLookAt(Vector3 eye, Vector3 target, Vector3 up) x = Vector3Normalize(x); Vector3 y = Vector3CrossProduct(z, x); y = Vector3Normalize(y); - + result.m0 = x.x; result.m1 = x.y; result.m2 = x.z; @@ -976,7 +988,7 @@ RMDEF float QuaternionLength(Quaternion q) RMDEF Quaternion QuaternionNormalize(Quaternion q) { Quaternion result = { 0 }; - + float length, ilength; length = QuaternionLength(q); if (length == 0.0f) length = 1.0f; @@ -986,7 +998,7 @@ RMDEF Quaternion QuaternionNormalize(Quaternion q) result.y = q.y*ilength; result.z = q.z*ilength; result.w = q.w*ilength; - + return result; } @@ -996,17 +1008,17 @@ RMDEF Quaternion QuaternionInvert(Quaternion q) Quaternion result = q; float length = QuaternionLength(q); float lengthSq = length*length; - + if (lengthSq != 0.0) { float i = 1.0f/lengthSq; - + result.x *= -i; result.y *= -i; result.z *= -i; result.w *= i; } - + return result; } @@ -1044,7 +1056,7 @@ RMDEF Quaternion QuaternionNlerp(Quaternion q1, Quaternion q2, float amount) { Quaternion result = QuaternionLerp(q1, q2, amount); result = QuaternionNormalize(result); - + return result; } @@ -1096,13 +1108,13 @@ RMDEF Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to) result.y = cross.y; result.z = cross.y; result.w = 1.0f + cos2Theta; // NOTE: Added QuaternioIdentity() - + // Normalize to essentially nlerp the original and identity to 0.5 - result = QuaternionNormalize(result); - + result = QuaternionNormalize(result); + // Above lines are equivalent to: //Quaternion result = QuaternionNlerp(q, QuaternionIdentity(), 0.5f); - + return result; } @@ -1172,7 +1184,7 @@ RMDEF Matrix QuaternionToMatrix(Quaternion q) float x2 = x + x; float y2 = y + y; float z2 = z + z; - + float length = QuaternionLength(q); float lengthSquared = length*length; @@ -1204,7 +1216,7 @@ RMDEF Matrix QuaternionToMatrix(Quaternion q) result.m13 = 0.0f; result.m14 = 0.0f; result.m15 = 1.0f; - + return result; } @@ -1219,7 +1231,7 @@ RMDEF Quaternion QuaternionFromAxisAngle(Vector3 axis, float angle) angle *= 0.5f; axis = Vector3Normalize(axis); - + float sinres = sinf(angle); float cosres = cosf(angle); @@ -1277,7 +1289,7 @@ RMDEF Quaternion QuaternionFromEuler(float roll, float pitch, float yaw) q.y = x0*y1*z0 + x1*y0*z1; q.z = x0*y0*z1 - x1*y1*z0; q.w = x0*y0*z0 + x1*y1*z1; - + return q; } @@ -1300,9 +1312,9 @@ RMDEF Vector3 QuaternionToEuler(Quaternion q) // yaw (z-axis rotation) float z0 = 2.0f*(q.w*q.z + q.x*q.y); - float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z); + float z1 = 1.0f - 2.0f*(q.y*q.y + q.z*q.z); result.z = atan2f(z0, z1)*RAD2DEG; - + return result; } @@ -1315,7 +1327,7 @@ RMDEF Quaternion QuaternionTransform(Quaternion q, Matrix mat) result.y = mat.m1*q.x + mat.m5*q.y + mat.m9*q.z + mat.m13*q.w; result.z = mat.m2*q.x + mat.m6*q.y + mat.m10*q.z + mat.m14*q.w; result.w = mat.m3*q.x + mat.m7*q.y + mat.m11*q.z + mat.m15*q.w; - + return result; }