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add rotation behavior logic (not working correctly for multiple axes)

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This commit is contained in:
David Markowitz
2025-08-31 00:13:56 -07:00
parent 3890c0a86c
commit 4d043398ab
11 changed files with 344 additions and 35 deletions
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72
dCommon/NiQuaternion.cpp
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@@ -14,13 +14,14 @@ Vector3 NiQuaternion::GetEulerAngles() const {
angles.x = std::atan2(sinr_cosp, cosr_cosp);
// pitch (y-axis rotation)
const float sinp = 2 * (w * y - z * x);
const float t2 = 2 * (w * y - z * x);
angles.y = std::asin(std::clamp(t2, -1.0f, 1.0f)); // clamp to avoid NaN
if (std::abs(sinp) >= 1) {
angles.y = std::copysign(3.14 / 2, sinp); // use 90 degrees if out of range
} else {
angles.y = std::asin(sinp);
}
// if (std::abs(p) >= 1) {
// angles.y = std::copysign(3.14 / 2, p); // use 90 degrees if out of range
// } else {
// angles.y = std::asin(p);
// }
// yaw (z-axis rotation)
const float siny_cosp = 2 * (w * z + x * y);
@@ -30,6 +31,65 @@ Vector3 NiQuaternion::GetEulerAngles() const {
return angles;
}
NiQuaternion NiQuaternion::operator*(const float scalar) const noexcept {
return NiQuaternion(this->w * scalar, this->x * scalar, this->y * scalar, this->z * scalar);
}
NiQuaternion& NiQuaternion::operator*=(const NiQuaternion& q) {
auto& [ow, ox, oy, oz] = q;
auto [cw, cx, cy, cz] = *this; // Current rotation copied because otherwise it screws up the math
this->w = cw * ow - cx * ox - cy * oy - cz * oz;
this->x = cw * ox + cx * ow + cy * oz - cz * oy;
this->y = cw * oy + cy * ow + cz * ox - cx * oz;
this->z = cw * oz + cz * ow + cx * oy - cy * ox;
return *this;
}
NiQuaternion NiQuaternion::operator* (const NiQuaternion& q) const {
auto& [ow, ox, oy, oz] = q;
return NiQuaternion
(
/* w */w * ow - x * ox - y * oy - z * oz,
/* x */w * ox + x * ow + y * oz - z * oy,
/* y */w * oy + y * ow + z * ox - x * oz,
/* z */w * oz + z * ow + x * oy - y * ox
);
}
NiQuaternion NiQuaternion::operator/(const float& q) const noexcept {
return NiQuaternion(this->w / q, this->x / q, this->y / q, this->z / q);
}
void NiQuaternion::Normalize() {
float length = Dot(*this);
float invLength = 1.0f / std::sqrt(length);
*this = *this * invLength;
}
float NiQuaternion::Dot(const NiQuaternion& q) const noexcept {
return (this->w * q.w) + (this->x * q.x) + (this->y * q.y) + (this->z * q.z);
}
void NiQuaternion::Inverse() noexcept {
NiQuaternion copy = *this;
copy.Conjugate();
const float inv = 1.0f / Dot(*this);
*this = copy / inv;
}
void NiQuaternion::Conjugate() noexcept {
x = -x;
y = -y;
z = -z;
}
NiQuaternion NiQuaternion::Diff(const NiQuaternion& q) const noexcept {
NiQuaternion inv = *this;
inv.Inverse();
return inv * q;
}
// MARK: Helper Functions
//! Look from a specific point in space to another point in space (Y-locked)