2 * Copyright (c) 2014 Samsung Electronics Co., Ltd.
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
8 * http://www.apache.org/licenses/LICENSE-2.0
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
19 #include <dali/public-api/math/quaternion.h>
22 #include <dali/public-api/common/constants.h>
23 #include <dali/public-api/math/degree.h>
24 #include <dali/public-api/math/matrix.h>
25 #include <dali/public-api/math/radian.h>
26 #include <dali/public-api/math/math-utils.h>
27 #include <dali/internal/render/common/performance-monitor.h>
31 using Internal::PerformanceMonitor;
33 const Quaternion Quaternion::IDENTITY;
39 Quaternion::Quaternion()
40 : mVector(0.0f, 0.0f, 0.0f, 1.0f)
44 Quaternion::Quaternion(float cosThetaBy2, float iBySineTheta, float jBySineTheta, float kBySineTheta) :
45 mVector(iBySineTheta, jBySineTheta, kBySineTheta, cosThetaBy2)
49 Quaternion::Quaternion(const Vector4& vector)
54 Quaternion::Quaternion(float angle, const Vector3 &axis)
56 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
58 Vector3 tmpAxis = axis;
60 const float halfAngle = angle * 0.5f;
61 const float sinThetaByTwo = sinf(halfAngle);
62 const float cosThetaByTwo = cosf(halfAngle);
63 mVector.x = tmpAxis.x * sinThetaByTwo;
64 mVector.y = tmpAxis.y * sinThetaByTwo;
65 mVector.z = tmpAxis.z * sinThetaByTwo;
66 mVector.w = cosThetaByTwo;
69 Quaternion::Quaternion(float theta, const Vector4 &axis)
71 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
73 Vector4 tmpAxis = axis;
75 const float halfTheta = theta * 0.5f;
76 const float sinThetaByTwo = sinf(halfTheta);
77 const float cosThetaByTwo = cosf(halfTheta);
78 mVector.x = tmpAxis.x * sinThetaByTwo;
79 mVector.y = tmpAxis.y * sinThetaByTwo;
80 mVector.z = tmpAxis.z * sinThetaByTwo;
81 mVector.w = cosThetaByTwo;
84 Quaternion::Quaternion(float x, float y, float z)
89 Quaternion::Quaternion(const Matrix& matrix)
91 Vector3 xAxis( matrix.GetXAxis() );
92 Vector3 yAxis( matrix.GetYAxis() );
93 Vector3 zAxis( matrix.GetZAxis() );
95 SetFromAxes( xAxis, yAxis, zAxis );
98 Quaternion::Quaternion( const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis )
100 SetFromAxes( xAxis, yAxis, zAxis );
104 Quaternion Quaternion::FromAxisAngle(const Vector4 &axis, float angle)
106 return Quaternion(angle, axis);
109 Quaternion::~Quaternion()
113 bool Quaternion::ToAxisAngle(Vector3 &axis, float &angle) const
115 angle = acosf(mVector.w);
116 bool converted = false;
117 // pre-compute to save time
118 const float sine = sinf( angle );
120 // If sine(angle) is zero, conversion is not possible
122 if ( ! EqualsZero( sine ) )
124 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,3);
126 float sinf_theta_inv = 1.0f / sine;
128 axis.x = mVector.x*sinf_theta_inv;
129 axis.y = mVector.y*sinf_theta_inv;
130 axis.z = mVector.z*sinf_theta_inv;
137 bool Quaternion::ToAxisAngle(Vector4 &axis, float &angle) const
140 bool converted = ToAxisAngle(axis3, angle);
151 const Vector4& Quaternion::AsVector() const
156 void Quaternion::SetEuler(float x, float y, float z)
158 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,19);
160 const float halfX = 0.5f * x;
161 const float halfY = 0.5f * y;
162 const float halfZ = 0.5f * z;
164 float cosX2 = cosf(halfX);
165 float cosY2 = cosf(halfY);
166 float cosZ2 = cosf(halfZ);
168 float sinX2 = sinf(halfX);
169 float sinY2 = sinf(halfY);
170 float sinZ2 = sinf(halfZ);
172 mVector.w = cosZ2 * cosY2 * cosX2 + sinZ2 * sinY2 * sinX2;
173 mVector.x = cosZ2 * cosY2 * sinX2 - sinZ2 * sinY2 * cosX2;
174 mVector.y = cosZ2 * sinY2 * cosX2 + sinZ2 * cosY2 * sinX2;
175 mVector.z = sinZ2 * cosY2 * cosX2 - cosZ2 * sinY2 * sinX2;
178 Vector4 Quaternion::EulerAngles() const
180 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,13);
182 float sqw = mVector.w*mVector.w;
183 float sqx = mVector.x*mVector.x;
184 float sqy = mVector.y*mVector.y;
185 float sqz = mVector.z*mVector.z;
188 euler.x = atan2f(2.0f * (mVector.y*mVector.z + mVector.x*mVector.w), -sqx - sqy + sqz + sqw);
189 euler.y = asinf(-2.0f * (mVector.x*mVector.z - mVector.y*mVector.w));
190 euler.z = atan2f(2.0f * (mVector.x*mVector.y + mVector.z*mVector.w), sqx - sqy - sqz + sqw);
194 const Quaternion Quaternion::operator +(const Quaternion &other) const
196 return Quaternion(mVector + other.mVector);
199 const Quaternion Quaternion::operator -(const Quaternion &other) const
201 return Quaternion(mVector - other.mVector);
204 const Quaternion Quaternion::operator *(const Quaternion &other) const
206 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,12);
208 return Quaternion(mVector.w * other.mVector.w - mVector.Dot(other.mVector),
209 mVector.y * other.mVector.z - mVector.z * other.mVector.y + mVector.w * other.mVector.x + mVector.x * other.mVector.w,
210 mVector.z * other.mVector.x - mVector.x * other.mVector.z + mVector.w * other.mVector.y + mVector.y * other.mVector.w,
211 mVector.x * other.mVector.y - mVector.y * other.mVector.x + mVector.w * other.mVector.z + mVector.z * other.mVector.w);
214 Vector3 Quaternion::operator *(const Vector3& v) const
216 // nVidia SDK implementation
218 Vector3 qvec(mVector.x, mVector.y, mVector.z);
220 uuv = qvec.Cross(uv);
221 uv *= (2.0f * mVector.w);
227 const Quaternion Quaternion::operator /(const Quaternion &q) const
234 const Quaternion Quaternion::operator *(float scale) const
236 return Quaternion(mVector*scale);
239 const Quaternion Quaternion::operator /(float scale) const
241 return Quaternion(mVector/scale);
244 Quaternion Quaternion::operator -() const
246 return Quaternion(-mVector.w, -mVector.x, -mVector.y, -mVector.z);
249 const Quaternion& Quaternion::operator +=(const Quaternion &q)
251 mVector += q.mVector; return *this;
254 const Quaternion& Quaternion::operator -=(const Quaternion &q)
256 mVector -= q.mVector; return *this;
259 const Quaternion& Quaternion::operator *=(const Quaternion &q)
261 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,12);
263 float x = mVector.x, y = mVector.y, z = mVector.z, w = mVector.w;
265 mVector.w = mVector.w * q.mVector.w - mVector.Dot(q.mVector);
266 mVector.x = y*q.mVector.z - z*q.mVector.y + w*q.mVector.x + x*q.mVector.w;
267 mVector.y = z*q.mVector.x - x*q.mVector.z + w*q.mVector.y + y*q.mVector.w;
268 mVector.z = x*q.mVector.y - y*q.mVector.x + w*q.mVector.z + z*q.mVector.w;
272 const Quaternion& Quaternion::operator *= (float scale)
274 mVector*=scale; return *this;
277 const Quaternion& Quaternion::operator /= (float scale)
279 mVector/=scale; return *this;
282 bool Quaternion::operator== (const Quaternion& rhs) const
284 return ( ( fabsf(mVector.x - rhs.mVector.x) < Math::MACHINE_EPSILON_1 &&
285 fabsf(mVector.y - rhs.mVector.y) < Math::MACHINE_EPSILON_1 &&
286 fabsf(mVector.z - rhs.mVector.z) < Math::MACHINE_EPSILON_1 &&
287 fabsf(mVector.w - rhs.mVector.w) < Math::MACHINE_EPSILON_1 ) ||
288 // Or equal to negation of rhs
289 ( fabsf(mVector.x + rhs.mVector.x) < Math::MACHINE_EPSILON_1 &&
290 fabsf(mVector.y + rhs.mVector.y) < Math::MACHINE_EPSILON_1 &&
291 fabsf(mVector.z + rhs.mVector.z) < Math::MACHINE_EPSILON_1 &&
292 fabsf(mVector.w + rhs.mVector.w) < Math::MACHINE_EPSILON_1 )
296 bool Quaternion::operator!= (const Quaternion& rhs) const
298 return !operator==(rhs);
301 float Quaternion::Length() const
303 return (float)sqrt(mVector.w * mVector.w + mVector.Dot(mVector));
306 float Quaternion::LengthSquared() const
308 return (float)(mVector.w * mVector.w + mVector.Dot(mVector));
311 void Quaternion::Normalize()
316 Quaternion Quaternion::Normalized() const
318 return *this/Length();
321 void Quaternion::Conjugate()
323 mVector.x = -mVector.x;
324 mVector.y = -mVector.y;
325 mVector.z = -mVector.z;
328 void Quaternion::Invert()
331 *this/=LengthSquared();
334 Quaternion Quaternion::Log() const
336 float a = acosf(mVector.w);
337 float sina = sinf(a);
341 if (fabsf(sina) >= Math::MACHINE_EPSILON_1)
343 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
345 float angleBySinAngle = a * (1.0f / sina);
346 ret.mVector.x = mVector.x * angleBySinAngle;
347 ret.mVector.y = mVector.y * angleBySinAngle;
348 ret.mVector.z = mVector.z * angleBySinAngle;
352 ret.mVector.x= ret.mVector.y= ret.mVector.z= 0;
357 Quaternion Quaternion::Exp() const
359 DALI_ASSERT_ALWAYS( EqualsZero( mVector.w ) && "Cannot perform Exponent" );
361 float a = mVector.Length();
362 float sina = sinf(a);
365 ret.mVector.w = cosf(a);
367 if (a >= Math::MACHINE_EPSILON_1)
369 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
371 float sinAOverA = sina * (1.0f / a);
372 ret.mVector.x = mVector.x * sinAOverA;
373 ret.mVector.y = mVector.y * sinAOverA;
374 ret.mVector.z = mVector.z * sinAOverA;
378 ret.mVector.x = ret.mVector.y = ret.mVector.z = 0.0f;
383 float Quaternion::Dot(const Quaternion &q1, const Quaternion &q2)
385 return q1.mVector.Dot4(q2.mVector);
388 Quaternion Quaternion::Lerp(const Quaternion &q1, const Quaternion &q2, float t)
390 return (q1*(1.0f-t) + q2*t).Normalized();
393 Quaternion Quaternion::Slerp(const Quaternion &q1, const Quaternion &q2, float progress)
396 float cosTheta = Quaternion::Dot(q1, q2);
399 * If cos(theta) < 0, q1 and q2 are more than 90 degrees apart,
400 * so invert one to reduce spinning.
404 cosTheta = -cosTheta;
412 if (fabsf(cosTheta) < 0.95f)
414 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,5);
417 float sine = sqrtf(1.0f - cosTheta*cosTheta);
418 float angle = atan2f(sine, cosTheta);
419 float invSine = 1.0f / sine;
420 float coeff0 = sinf((1.0f - progress) * angle) * invSine;
421 float coeff1 = sinf(progress * angle) * invSine;
423 return q1*coeff0 + q3*coeff1;
427 // If the angle is small, use linear interpolation
428 Quaternion result = q1*(1.0f - progress) + q3*progress;
430 return result.Normalized();
434 Quaternion Quaternion::SlerpNoInvert(const Quaternion &q1, const Quaternion &q2, float t)
436 float cosTheta = Quaternion::Dot(q1, q2);
438 if (cosTheta > -0.95f && cosTheta < 0.95f)
440 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,2);
442 float theta = acosf(cosTheta);
443 return (q1*sinf(theta*(1.0f-t)) + q2*sinf(theta*t))/sinf(theta);
447 return Lerp(q1, q2, t);
451 Quaternion Quaternion::Squad(
452 const Quaternion &q1, // start
453 const Quaternion &q2, // end
454 const Quaternion &a, // ctrl pt for q1
455 const Quaternion &b, // ctrl pt for q2
458 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,2);
460 Quaternion c = SlerpNoInvert(q1, q2, t);
461 Quaternion d = SlerpNoInvert(a, b, t);
462 return SlerpNoInvert(c, d, 2*t*(1-t));
465 float Quaternion::AngleBetween(const Quaternion &q1, const Quaternion &q2)
473 //Formula for angle θ between two quaternion is:
474 //θ = cos^−1 (2⟨q1,q2⟩^2 − 1), Where (q1,q2) is inner product of the quaternions.
475 float X = from.mVector.Dot4(to.mVector);
476 float theta = acos( (2 * X * X) - 1);
481 Vector4 Quaternion::Rotate(const Vector4 &v) const
483 Quaternion V(0.0f, v.x, v.y, v.z);
484 Quaternion conjugate(*this);
485 conjugate.Conjugate();
486 return (*this * V * conjugate).mVector;
489 Vector3 Quaternion::Rotate(const Vector3 &v) const
491 Quaternion V(0.0f, v.x, v.y, v.z);
492 Quaternion conjugate(*this);
493 conjugate.Conjugate();
494 return Vector3((*this * V * conjugate).mVector);
497 void Quaternion::SetFromAxes( const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis )
499 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
501 float t = xAxis.x + yAxis.y + zAxis.z;
502 if ( t > 0.0f ) // w is largest
504 float root = sqrtf( t + 1.0f );
505 float one_over_4w = 0.5f / root;
506 mVector.x = ( yAxis.z - zAxis.y ) * one_over_4w;
507 mVector.y = ( zAxis.x - xAxis.z ) * one_over_4w;
508 mVector.z = ( xAxis.y - yAxis.x ) * one_over_4w;
509 mVector.w = root * 0.5f;
511 else if( zAxis.z > xAxis.x && zAxis.z > yAxis.y ) // z is largest
513 float root = sqrtf( zAxis.z - xAxis.x - yAxis.y + 1.0f );
514 float one_over_4w = 0.5f / root;
515 mVector.x = ( xAxis.z + zAxis.x ) * one_over_4w;
516 mVector.y = ( yAxis.z + zAxis.y ) * one_over_4w;
517 mVector.z = root * 0.5f;
518 mVector.w = ( xAxis.y - yAxis.x ) * one_over_4w;
520 else if( yAxis.y > xAxis.x ) // y is largest
522 float root = sqrtf(yAxis.y - zAxis.z - xAxis.x + 1.0f );
523 float one_over_4w = 0.5f / root;
525 mVector.x = ( xAxis.y + yAxis.x ) * one_over_4w;
526 mVector.y = root * 0.5f;
527 mVector.z = ( zAxis.y + yAxis.z ) * one_over_4w;
528 mVector.w = ( zAxis.x - xAxis.z ) * one_over_4w;
532 float root = sqrtf( xAxis.x - yAxis.y - zAxis.z + 1.0f );
533 float one_over_4w = 0.5f / root;
534 mVector.x = root * 0.5f;
535 mVector.y = ( yAxis.x + xAxis.y ) * one_over_4w;
536 mVector.z = ( zAxis.x + xAxis.z ) * one_over_4w;
537 mVector.w = ( yAxis.z - zAxis.y ) * one_over_4w;
543 std::ostream& operator<< (std::ostream& o, const Quaternion& quaternion)
548 quaternion.ToAxisAngle( axis, angleRadians );
549 Degree degrees = Radian(angleRadians);
551 return o << "[ Axis: [" << axis.x << ", " << axis.y << ", " << axis.z << "], Angle: " << degrees << " degrees ]";