Add more Quaternion methods for SimpleMath (#116)
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Chuck Walbourn
GitHub
Родитель
0a267e7afe
Коммит
5013cab0b8
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@ -713,6 +713,9 @@ namespace DirectX
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float Dot(const Quaternion& Q) const noexcept;
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void RotateTowards(const Quaternion& target, float maxAngle) noexcept;
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void __cdecl RotateTowards(const Quaternion& target, float maxAngle, Quaternion& result) const noexcept;
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// Computes rotation about y-axis (y), then x-axis (x), then z-axis (z)
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Vector3 ToEuler() const noexcept;
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@ -736,6 +739,14 @@ namespace DirectX
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static void Concatenate(const Quaternion& q1, const Quaternion& q2, Quaternion& result) noexcept;
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static Quaternion Concatenate(const Quaternion& q1, const Quaternion& q2) noexcept;
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static void __cdecl FromToRotation(const Vector3& fromDir, const Vector3& toDir, Quaternion& result) noexcept;
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static Quaternion FromToRotation(const Vector3& fromDir, const Vector3& toDir) noexcept;
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static void __cdecl LookRotation(const Vector3& forward, const Vector3& up, Quaternion& result) noexcept;
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static Quaternion LookRotation(const Vector3& forward, const Vector3& up) noexcept;
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static float Angle(const Quaternion& q1, const Quaternion& q2) noexcept;
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// Constants
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static const Quaternion Identity;
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};
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@ -762,11 +773,11 @@ namespace DirectX
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Color(const XMFLOAT4& c) noexcept { this->x = c.x; this->y = c.y; this->z = c.z; this->w = c.w; }
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explicit Color(const XMVECTORF32& F) noexcept { this->x = F.f[0]; this->y = F.f[1]; this->z = F.f[2]; this->w = F.f[3]; }
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// BGRA Direct3D 9 D3DCOLOR packed color
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explicit Color(const DirectX::PackedVector::XMCOLOR& Packed) noexcept;
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// BGRA Direct3D 9 D3DCOLOR packed color
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// RGBA XNA Game Studio packed color
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explicit Color(const DirectX::PackedVector::XMUBYTEN4& Packed) noexcept;
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// RGBA XNA Game Studio packed color
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Color(const Color&) = default;
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Color& operator=(const Color&) = default;
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@ -3115,6 +3115,11 @@ inline float Quaternion::Dot(const Quaternion& q) const noexcept
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return XMVectorGetX(XMQuaternionDot(q1, q2));
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}
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inline void Quaternion::RotateTowards(const Quaternion& target, float maxAngle) noexcept
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{
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RotateTowards(target, maxAngle, *this);
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}
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inline Vector3 Quaternion::ToEuler() const noexcept
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{
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float xx = x * x;
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@ -3273,6 +3278,34 @@ inline Quaternion Quaternion::Concatenate(const Quaternion& q1, const Quaternion
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return result;
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}
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inline Quaternion Quaternion::FromToRotation(const Vector3& fromDir, const Vector3& toDir) noexcept
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{
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Quaternion result;
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FromToRotation(fromDir, toDir, result);
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return result;
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}
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inline Quaternion Quaternion::LookRotation(const Vector3& forward, const Vector3& up) noexcept
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{
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Quaternion result;
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LookRotation(forward, up, result);
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return result;
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}
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inline float Quaternion::Angle(const Quaternion& q1, const Quaternion& q2) noexcept
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{
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using namespace DirectX;
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XMVECTOR Q0 = XMLoadFloat4(&q1);
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XMVECTOR Q1 = XMLoadFloat4(&q2);
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// We can use the conjugate here instead of inverse assuming q1 & q2 are normalized.
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XMVECTOR R = XMQuaternionMultiply(XMQuaternionConjugate(Q0), Q1);
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float rs = XMVectorGetW(R);
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R = XMVector3Length(R);
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return 2.f * atan2f(XMVectorGetX(R), rs);
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}
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/****************************************************************************
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*
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@ -54,8 +54,97 @@ namespace DirectX
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}
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}
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using namespace DirectX;
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using namespace DirectX::SimpleMath;
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/****************************************************************************
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*
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* Quaternion
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*
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****************************************************************************/
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void Quaternion::RotateTowards(const Quaternion& target, float maxAngle, Quaternion& result) const noexcept
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{
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XMVECTOR T = XMLoadFloat4(this);
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// We can use the conjugate here instead of inverse assuming q1 & q2 are normalized.
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XMVECTOR R = XMQuaternionMultiply(XMQuaternionConjugate(T), target);
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float rs = XMVectorGetW(R);
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XMVECTOR L = XMVector3Length(R);
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float angle = 2.f * atan2f(XMVectorGetX(L), rs);
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if (angle > maxAngle)
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{
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XMVECTOR delta = XMQuaternionRotationAxis(R, maxAngle);
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XMVECTOR Q = XMQuaternionMultiply(delta, T);
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XMStoreFloat4(&result, Q);
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}
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else
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{
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// Don't overshoot.
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result = target;
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}
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}
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void Quaternion::FromToRotation(const Vector3& fromDir, const Vector3& toDir, Quaternion& result) noexcept
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{
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// Melax, "The Shortest Arc Quaternion", Game Programming Gems, Charles River Media (2000).
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XMVECTOR F = XMVector3Normalize(fromDir);
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XMVECTOR T = XMVector3Normalize(toDir);
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float dot = XMVectorGetX(XMVector3Dot(F, T));
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if (dot >= 1.f)
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{
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result = Identity;
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}
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else if (dot <= -1.f)
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{
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XMVECTOR axis = XMVector3Cross(F, Vector3::Right);
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if (XMVector3NearEqual(XMVector3LengthSq(axis), g_XMZero, g_XMEpsilon))
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{
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axis = XMVector3Cross(F, Vector3::Up);
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}
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XMVECTOR Q = XMQuaternionRotationAxis(axis, XM_PI);
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XMStoreFloat4(&result, Q);
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}
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else
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{
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XMVECTOR C = XMVector3Cross(F, T);
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XMStoreFloat4(&result, C);
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float s = sqrtf((1.f + dot) * 2.f);
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result.x /= s;
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result.y /= s;
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result.z /= s;
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result.w = s * 0.5f;
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}
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}
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void Quaternion::LookRotation(const Vector3& forward, const Vector3& up, Quaternion& result) noexcept
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{
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Quaternion q1;
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FromToRotation(Vector3::Forward, forward, q1);
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XMVECTOR C = XMVector3Cross(forward, up);
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if (XMVector3NearEqual(XMVector3LengthSq(C), g_XMZero, g_XMEpsilon))
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{
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// forward and up are co-linear
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result = q1;
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return;
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}
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XMVECTOR U = XMQuaternionMultiply(q1, Vector3::Up);
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Quaternion q2;
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FromToRotation(U, up, q2);
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XMStoreFloat4(&result, XMQuaternionMultiply(q2, q1));
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}
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/****************************************************************************
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*
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* Viewport
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*
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@ -82,7 +171,7 @@ static_assert(offsetof(DirectX::SimpleMath::Viewport, maxDepth) == offsetof(D3D1
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#endif
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#if defined(__dxgi1_2_h__) || defined(__d3d11_x_h__) || defined(__d3d12_x_h__) || defined(__XBOX_D3D12_X__)
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RECT DirectX::SimpleMath::Viewport::ComputeDisplayArea(DXGI_SCALING scaling, UINT backBufferWidth, UINT backBufferHeight, int outputWidth, int outputHeight) noexcept
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RECT Viewport::ComputeDisplayArea(DXGI_SCALING scaling, UINT backBufferWidth, UINT backBufferHeight, int outputWidth, int outputHeight) noexcept
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{
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RECT rct = {};
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@ -143,7 +232,7 @@ RECT DirectX::SimpleMath::Viewport::ComputeDisplayArea(DXGI_SCALING scaling, UIN
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}
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#endif
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RECT DirectX::SimpleMath::Viewport::ComputeTitleSafeArea(UINT backBufferWidth, UINT backBufferHeight) noexcept
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RECT Viewport::ComputeTitleSafeArea(UINT backBufferWidth, UINT backBufferHeight) noexcept
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{
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float safew = (float(backBufferWidth) + 19.f) / 20.f;
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float safeh = (float(backBufferHeight) + 19.f) / 20.f;
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