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cogl/matrix: Init from quaternion or euler using graphene

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Georges Basile Stavracas Neto 2019-02-27 20:42:18 -03:00
parent 1aac180e8d
commit 8ff79c3b7d
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1 changed files with 7 additions and 106 deletions
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113
cogl/cogl/cogl-matrix.c
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@ -367,123 +367,24 @@ _cogl_matrix_init_from_matrix_without_inverse (CoglMatrix *matrix,
memcpy (matrix, src, 16 * sizeof (float)); memcpy (matrix, src, 16 * sizeof (float));
} }
static void
_cogl_matrix_init_from_quaternion (CoglMatrix *matrix,
const graphene_quaternion_t *quaternion)
{
graphene_vec4_t quaternion_v;
graphene_quaternion_to_vec4 (quaternion, &quaternion_v);
float qnorm = graphene_quaternion_dot (quaternion, quaternion);
float s = (qnorm > 0.0f) ? (2.0f / qnorm) : 0.0f;
float xs = graphene_vec4_get_x (&quaternion_v) * s;
float ys = graphene_vec4_get_y (&quaternion_v) * s;
float zs = graphene_vec4_get_z (&quaternion_v) * s;
float wx = graphene_vec4_get_w (&quaternion_v) * xs;
float wy = graphene_vec4_get_w (&quaternion_v) * ys;
float wz = graphene_vec4_get_w (&quaternion_v) * zs;
float xx = graphene_vec4_get_x (&quaternion_v) * xs;
float xy = graphene_vec4_get_x (&quaternion_v) * ys;
float xz = graphene_vec4_get_x (&quaternion_v) * zs;
float yy = graphene_vec4_get_y (&quaternion_v) * ys;
float yz = graphene_vec4_get_y (&quaternion_v) * zs;
float zz = graphene_vec4_get_z (&quaternion_v) * zs;
matrix->xx = 1.0f - (yy + zz);
matrix->yx = xy + wz;
matrix->zx = xz - wy;
matrix->xy = xy - wz;
matrix->yy = 1.0f - (xx + zz);
matrix->zy = yz + wx;
matrix->xz = xz + wy;
matrix->yz = yz - wx;
matrix->zz = 1.0f - (xx + yy);
matrix->xw = matrix->yw = matrix->zw = 0.0f;
matrix->wx = matrix->wy = matrix->wz = 0.0f;
matrix->ww = 1.0f;
}
void void
cogl_matrix_init_from_quaternion (CoglMatrix *matrix, cogl_matrix_init_from_quaternion (CoglMatrix *matrix,
const graphene_quaternion_t *quaternion) const graphene_quaternion_t *quaternion)
{ {
_cogl_matrix_init_from_quaternion (matrix, quaternion); graphene_matrix_t m;
graphene_quaternion_to_matrix (quaternion, &m);
graphene_matrix_to_cogl_matrix (&m, matrix);
} }
void void
cogl_matrix_init_from_euler (CoglMatrix *matrix, cogl_matrix_init_from_euler (CoglMatrix *matrix,
const graphene_euler_t *euler) const graphene_euler_t *euler)
{ {
/* Convert angles to radians */ graphene_matrix_t m;
float heading_rad = graphene_euler_get_y (euler) / 180.0f * G_PI;
float pitch_rad = graphene_euler_get_x (euler) / 180.0f * G_PI;
float roll_rad = graphene_euler_get_z (euler) / 180.0f * G_PI;
/* Pre-calculate the sin and cos */
float sin_heading = sinf (heading_rad);
float cos_heading = cosf (heading_rad);
float sin_pitch = sinf (pitch_rad);
float cos_pitch = cosf (pitch_rad);
float sin_roll = sinf (roll_rad);
float cos_roll = cosf (roll_rad);
/* These calculations are based on the following website but they graphene_euler_to_matrix (euler, &m);
* use a different order for the rotations so it has been modified graphene_matrix_to_cogl_matrix (&m, matrix);
* slightly.
* http://www.euclideanspace.com/maths/geometry/
* rotations/conversions/eulerToMatrix/index.htm
*/
/* Heading rotation x=0, y=1, z=0 gives:
*
* [ ch 0 sh 0 ]
* [ 0 1 0 0 ]
* [ -sh 0 ch 0 ]
* [ 0 0 0 1 ]
*
* Pitch rotation x=1, y=0, z=0 gives:
* [ 1 0 0 0 ]
* [ 0 cp -sp 0 ]
* [ 0 sp cp 0 ]
* [ 0 0 0 1 ]
*
* Roll rotation x=0, y=0, z=1 gives:
* [ cr -sr 0 0 ]
* [ sr cr 0 0 ]
* [ 0 0 1 0 ]
* [ 0 0 0 1 ]
*
* Heading matrix * pitch matrix =
* [ ch sh*sp cp*sh 0 ]
* [ 0 cp -sp 0 ]
* [ -sh ch*sp ch*cp 0 ]
* [ 0 0 0 1 ]
*
* That matrix * roll matrix =
* [ ch*cr + sh*sp*sr sh*sp*cr - ch*sr sh*cp 0 ]
* [ cp*sr cp*cr -sp 0 ]
* [ ch*sp*sr - sh*cr sh*sr + ch*sp*cr ch*cp 0 ]
* [ 0 0 0 1 ]
*/
matrix->xx = cos_heading * cos_roll + sin_heading * sin_pitch * sin_roll;
matrix->yx = cos_pitch * sin_roll;
matrix->zx = cos_heading * sin_pitch * sin_roll - sin_heading * cos_roll;
matrix->wx = 0.0f;
matrix->xy = sin_heading * sin_pitch * cos_roll - cos_heading * sin_roll;
matrix->yy = cos_pitch * cos_roll;
matrix->zy = sin_heading * sin_roll + cos_heading * sin_pitch * cos_roll;
matrix->wy = 0.0f;
matrix->xz = sin_heading * cos_pitch;
matrix->yz = -sin_pitch;
matrix->zz = cos_heading * cos_pitch;
matrix->wz = 0;
matrix->xw = 0;
matrix->yw = 0;
matrix->zw = 0;
matrix->ww = 1;
} }
void void