DarkflameServer/dCommon/NiQuaternion.cpp

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#include "NiQuaternion.h"
// C++
#include <cmath>
// Static Variables
const NiQuaternion NiQuaternion::IDENTITY(1, 0, 0, 0);
//! The initializer
NiQuaternion::NiQuaternion(void) {
this->w = 1;
this->x = 0;
this->y = 0;
this->z = 0;
}
//! The initializer
NiQuaternion::NiQuaternion(float w, float x, float y, float z) {
this->w = w;
this->x = x;
this->y = y;
this->z = z;
}
//! Destructor
NiQuaternion::~NiQuaternion(void) {}
// MARK: Setters / Getters
//! Gets the W coordinate
float NiQuaternion::GetW(void) const {
return this->w;
}
//! Sets the W coordinate
void NiQuaternion::SetW(float w) {
this->w = w;
}
//! Gets the X coordinate
float NiQuaternion::GetX(void) const {
return this->x;
}
//! Sets the X coordinate
void NiQuaternion::SetX(float x) {
this->x = x;
}
//! Gets the Y coordinate
float NiQuaternion::GetY(void) const {
return this->y;
}
//! Sets the Y coordinate
void NiQuaternion::SetY(float y) {
this->y = y;
}
//! Gets the Z coordinate
float NiQuaternion::GetZ(void) const {
return this->z;
}
//! Sets the Z coordinate
void NiQuaternion::SetZ(float z) {
this->z = z;
}
// MARK: Member Functions
//! Returns the forward vector from the quaternion
Vector3 NiQuaternion::GetForwardVector(void) const {
return Vector3(2 * (x * z + w * y), 2 * (y * z - w * x), 1 - 2 * (x * x + y * y));
}
//! Returns the up vector from the quaternion
Vector3 NiQuaternion::GetUpVector(void) const {
return Vector3(2 * (x * y - w * z), 1 - 2 * (x * x + z * z), 2 * (y * z + w * x));
}
//! Returns the right vector from the quaternion
Vector3 NiQuaternion::GetRightVector(void) const {
return Vector3(1 - 2 * (y * y + z * z), 2 * (x * y + w * z), 2 * (x * z - w * y));
}
Vector3 NiQuaternion::GetEulerAngles() const {
Vector3 angles;
// roll (x-axis rotation)
const float sinr_cosp = 2 * (w * x + y * z);
const float cosr_cosp = 1 - 2 * (x * x + y * y);
angles.x = std::atan2(sinr_cosp, cosr_cosp);
// pitch (y-axis rotation)
const float sinp = 2 * (w * y - z * x);
if (std::abs(sinp) >= 1) {
angles.y = std::copysign(3.14 / 2, sinp); // use 90 degrees if out of range
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} else {
angles.y = std::asin(sinp);
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}
// yaw (z-axis rotation)
const float siny_cosp = 2 * (w * z + x * y);
const float cosy_cosp = 1 - 2 * (y * y + z * z);
angles.z = std::atan2(siny_cosp, cosy_cosp);
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return angles;
}
// MARK: Operators
//! Operator to check for equality
bool NiQuaternion::operator==(const NiQuaternion& rot) const {
return rot.x == this->x && rot.y == this->y && rot.z == this->z && rot.w == this->w;
}
//! Operator to check for inequality
bool NiQuaternion::operator!=(const NiQuaternion& rot) const {
return !(*this == rot);
}
// MARK: Helper Functions
//! Look from a specific point in space to another point in space
NiQuaternion NiQuaternion::LookAt(const NiPoint3& sourcePoint, const NiPoint3& destPoint) {
//To make sure we don't orient around the X/Z axis:
NiPoint3 source = sourcePoint;
NiPoint3 dest = destPoint;
source.y = 0.0f;
dest.y = 0.0f;
NiPoint3 forwardVector = NiPoint3(dest - source).Unitize();
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NiPoint3 posZ = NiPoint3::UNIT_Z;
NiPoint3 vecA = posZ.CrossProduct(forwardVector).Unitize();
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float dot = posZ.DotProduct(forwardVector);
float rotAngle = static_cast<float>(acos(dot));
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NiPoint3 vecB = vecA.CrossProduct(posZ);
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if (vecB.DotProduct(forwardVector) < 0) rotAngle = -rotAngle;
return NiQuaternion::CreateFromAxisAngle(vecA, rotAngle);
}
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NiQuaternion NiQuaternion::LookAtUnlocked(const NiPoint3& sourcePoint, const NiPoint3& destPoint) {
NiPoint3 forwardVector = NiPoint3(destPoint - sourcePoint).Unitize();
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NiPoint3 posZ = NiPoint3::UNIT_Z;
NiPoint3 vecA = posZ.CrossProduct(forwardVector).Unitize();
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float dot = posZ.DotProduct(forwardVector);
float rotAngle = static_cast<float>(acos(dot));
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NiPoint3 vecB = vecA.CrossProduct(posZ);
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if (vecB.DotProduct(forwardVector) < 0) rotAngle = -rotAngle;
return NiQuaternion::CreateFromAxisAngle(vecA, rotAngle);
}
//! Creates a Quaternion from a specific axis and angle relative to that axis
NiQuaternion NiQuaternion::CreateFromAxisAngle(const Vector3& axis, float angle) {
float halfAngle = angle * 0.5f;
float s = static_cast<float>(sin(halfAngle));
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NiQuaternion q;
q.x = axis.GetX() * s;
q.y = axis.GetY() * s;
q.z = axis.GetZ() * s;
q.w = static_cast<float>(cos(halfAngle));
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return q;
}
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NiQuaternion NiQuaternion::FromEulerAngles(const NiPoint3& eulerAngles) {
// Abbreviations for the various angular functions
float cy = cos(eulerAngles.z * 0.5);
float sy = sin(eulerAngles.z * 0.5);
float cp = cos(eulerAngles.y * 0.5);
float sp = sin(eulerAngles.y * 0.5);
float cr = cos(eulerAngles.x * 0.5);
float sr = sin(eulerAngles.x * 0.5);
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NiQuaternion q;
q.w = cr * cp * cy + sr * sp * sy;
q.x = sr * cp * cy - cr * sp * sy;
q.y = cr * sp * cy + sr * cp * sy;
q.z = cr * cp * sy - sr * sp * cy;
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return q;
}