mirror of
https://github.com/DarkflameUniverse/DarkflameServer.git
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a0d51e21ca
* allow usage of NiPoint3 and NiQuaternion in constexpr context * removed .cpp files entirely * moving circular dependency circumvention stuff to an .inl file * real world usage!!!!! * reverting weird branch cross-pollination * removing more weird branch cross-pollination * remove comment * added inverse header guard to inl file * Update NiPoint3.inl * trying different constructor syntax * reorganize into .inl files for readability * uncomment include * moved non-constexpr definitions to cpp file * moved static definitions back to inl files * testing fix * moved constants into seperate namespace * Undo change in build-and-test.yml * nodiscard
104 lines
3.0 KiB
C++
104 lines
3.0 KiB
C++
#include "NiQuaternion.h"
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// C++
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#include <cmath>
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// MARK: Member Functions
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Vector3 NiQuaternion::GetEulerAngles() const {
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Vector3 angles;
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// roll (x-axis rotation)
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const float sinr_cosp = 2 * (w * x + y * z);
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const float cosr_cosp = 1 - 2 * (x * x + y * y);
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angles.x = std::atan2(sinr_cosp, cosr_cosp);
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// pitch (y-axis rotation)
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const float sinp = 2 * (w * y - z * x);
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if (std::abs(sinp) >= 1) {
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angles.y = std::copysign(3.14 / 2, sinp); // use 90 degrees if out of range
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} else {
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angles.y = std::asin(sinp);
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}
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// yaw (z-axis rotation)
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const float siny_cosp = 2 * (w * z + x * y);
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const float cosy_cosp = 1 - 2 * (y * y + z * z);
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angles.z = std::atan2(siny_cosp, cosy_cosp);
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return angles;
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}
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// MARK: Helper Functions
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//! Look from a specific point in space to another point in space (Y-locked)
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NiQuaternion NiQuaternion::LookAt(const NiPoint3& sourcePoint, const NiPoint3& destPoint) {
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//To make sure we don't orient around the X/Z axis:
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NiPoint3 source = sourcePoint;
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NiPoint3 dest = destPoint;
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source.y = 0.0f;
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dest.y = 0.0f;
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NiPoint3 forwardVector = NiPoint3(dest - source).Unitize();
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NiPoint3 posZ = NiPoint3Constant::UNIT_Z;
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NiPoint3 vecA = posZ.CrossProduct(forwardVector).Unitize();
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float dot = posZ.DotProduct(forwardVector);
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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;
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return NiQuaternion::CreateFromAxisAngle(vecA, rotAngle);
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}
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//! Look from a specific point in space to another point in space
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NiQuaternion NiQuaternion::LookAtUnlocked(const NiPoint3& sourcePoint, const NiPoint3& destPoint) {
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NiPoint3 forwardVector = NiPoint3(destPoint - sourcePoint).Unitize();
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NiPoint3 posZ = NiPoint3Constant::UNIT_Z;
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NiPoint3 vecA = posZ.CrossProduct(forwardVector).Unitize();
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float dot = posZ.DotProduct(forwardVector);
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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;
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return NiQuaternion::CreateFromAxisAngle(vecA, rotAngle);
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}
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//! Creates a Quaternion from a specific axis and angle relative to that axis
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NiQuaternion NiQuaternion::CreateFromAxisAngle(const Vector3& axis, float angle) {
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float halfAngle = angle * 0.5f;
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float s = static_cast<float>(sin(halfAngle));
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NiQuaternion q;
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q.x = axis.GetX() * s;
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q.y = axis.GetY() * s;
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q.z = axis.GetZ() * s;
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q.w = static_cast<float>(cos(halfAngle));
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return q;
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}
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NiQuaternion NiQuaternion::FromEulerAngles(const NiPoint3& eulerAngles) {
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// Abbreviations for the various angular functions
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float cy = cos(eulerAngles.z * 0.5);
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float sy = sin(eulerAngles.z * 0.5);
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float cp = cos(eulerAngles.y * 0.5);
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float sp = sin(eulerAngles.y * 0.5);
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float cr = cos(eulerAngles.x * 0.5);
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float sr = sin(eulerAngles.x * 0.5);
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NiQuaternion q;
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q.w = cr * cp * cy + sr * sp * sy;
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q.x = sr * cp * cy - cr * sp * sy;
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q.y = cr * sp * cy + sr * cp * sy;
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q.z = cr * cp * sy - sr * sp * cy;
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return q;
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}
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