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 );
103 Quaternion::Quaternion( const Vector3& v0, const Vector3& v1 )
105 float dot = v0.Dot(v1);
106 if( dot > 1.0f - Math::MACHINE_EPSILON_1 )
108 //Identity quaternion
109 mVector.x = mVector.y = mVector.z = 0.0f;
112 else if( dot < -1.0f + Math::MACHINE_EPSILON_1)
114 //180 degree rotation across the Z axis
115 mVector.x = mVector.y = mVector.w = 0.0f;
120 Vector3 w = v0.Cross(v1);
121 mVector.w = 1.0f + dot;
129 Quaternion Quaternion::FromAxisAngle(const Vector4 &axis, float angle)
131 return Quaternion(angle, axis);
134 Quaternion::~Quaternion()
138 bool Quaternion::ToAxisAngle(Vector3 &axis, float &angle) const
140 angle = acosf(mVector.w);
141 bool converted = false;
142 // pre-compute to save time
143 const float sine = sinf( angle );
145 // If sine(angle) is zero, conversion is not possible
147 if ( ! EqualsZero( sine ) )
149 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,3);
151 float sinf_theta_inv = 1.0f / sine;
153 axis.x = mVector.x*sinf_theta_inv;
154 axis.y = mVector.y*sinf_theta_inv;
155 axis.z = mVector.z*sinf_theta_inv;
162 bool Quaternion::ToAxisAngle(Vector4 &axis, float &angle) const
165 bool converted = ToAxisAngle(axis3, angle);
176 const Vector4& Quaternion::AsVector() const
181 void Quaternion::SetEuler(float x, float y, float z)
183 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,19);
185 const float halfX = 0.5f * x;
186 const float halfY = 0.5f * y;
187 const float halfZ = 0.5f * z;
189 float cosX2 = cosf(halfX);
190 float cosY2 = cosf(halfY);
191 float cosZ2 = cosf(halfZ);
193 float sinX2 = sinf(halfX);
194 float sinY2 = sinf(halfY);
195 float sinZ2 = sinf(halfZ);
197 mVector.w = cosZ2 * cosY2 * cosX2 + sinZ2 * sinY2 * sinX2;
198 mVector.x = cosZ2 * cosY2 * sinX2 - sinZ2 * sinY2 * cosX2;
199 mVector.y = cosZ2 * sinY2 * cosX2 + sinZ2 * cosY2 * sinX2;
200 mVector.z = sinZ2 * cosY2 * cosX2 - cosZ2 * sinY2 * sinX2;
203 Vector4 Quaternion::EulerAngles() const
205 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,13);
207 float sqw = mVector.w*mVector.w;
208 float sqx = mVector.x*mVector.x;
209 float sqy = mVector.y*mVector.y;
210 float sqz = mVector.z*mVector.z;
213 euler.x = atan2f(2.0f * (mVector.y*mVector.z + mVector.x*mVector.w), -sqx - sqy + sqz + sqw);
214 euler.y = asinf(-2.0f * (mVector.x*mVector.z - mVector.y*mVector.w));
215 euler.z = atan2f(2.0f * (mVector.x*mVector.y + mVector.z*mVector.w), sqx - sqy - sqz + sqw);
219 const Quaternion Quaternion::operator +(const Quaternion &other) const
221 return Quaternion(mVector + other.mVector);
224 const Quaternion Quaternion::operator -(const Quaternion &other) const
226 return Quaternion(mVector - other.mVector);
229 const Quaternion Quaternion::operator *(const Quaternion &other) const
231 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,12);
233 return Quaternion(mVector.w * other.mVector.w - mVector.Dot(other.mVector),
234 mVector.y * other.mVector.z - mVector.z * other.mVector.y + mVector.w * other.mVector.x + mVector.x * other.mVector.w,
235 mVector.z * other.mVector.x - mVector.x * other.mVector.z + mVector.w * other.mVector.y + mVector.y * other.mVector.w,
236 mVector.x * other.mVector.y - mVector.y * other.mVector.x + mVector.w * other.mVector.z + mVector.z * other.mVector.w);
239 Vector3 Quaternion::operator *(const Vector3& v) const
241 // nVidia SDK implementation
243 Vector3 qvec(mVector.x, mVector.y, mVector.z);
245 uuv = qvec.Cross(uv);
246 uv *= (2.0f * mVector.w);
252 const Quaternion Quaternion::operator /(const Quaternion &q) const
259 const Quaternion Quaternion::operator *(float scale) const
261 return Quaternion(mVector*scale);
264 const Quaternion Quaternion::operator /(float scale) const
266 return Quaternion(mVector/scale);
269 Quaternion Quaternion::operator -() const
271 return Quaternion(-mVector.w, -mVector.x, -mVector.y, -mVector.z);
274 const Quaternion& Quaternion::operator +=(const Quaternion &q)
276 mVector += q.mVector; return *this;
279 const Quaternion& Quaternion::operator -=(const Quaternion &q)
281 mVector -= q.mVector; return *this;
284 const Quaternion& Quaternion::operator *=(const Quaternion &q)
286 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,12);
288 float x = mVector.x, y = mVector.y, z = mVector.z, w = mVector.w;
290 mVector.w = mVector.w * q.mVector.w - mVector.Dot(q.mVector);
291 mVector.x = y*q.mVector.z - z*q.mVector.y + w*q.mVector.x + x*q.mVector.w;
292 mVector.y = z*q.mVector.x - x*q.mVector.z + w*q.mVector.y + y*q.mVector.w;
293 mVector.z = x*q.mVector.y - y*q.mVector.x + w*q.mVector.z + z*q.mVector.w;
297 const Quaternion& Quaternion::operator *= (float scale)
299 mVector*=scale; return *this;
302 const Quaternion& Quaternion::operator /= (float scale)
304 mVector/=scale; return *this;
307 bool Quaternion::operator== (const Quaternion& rhs) const
309 return ( ( fabsf(mVector.x - rhs.mVector.x) < Math::MACHINE_EPSILON_1 &&
310 fabsf(mVector.y - rhs.mVector.y) < Math::MACHINE_EPSILON_1 &&
311 fabsf(mVector.z - rhs.mVector.z) < Math::MACHINE_EPSILON_1 &&
312 fabsf(mVector.w - rhs.mVector.w) < Math::MACHINE_EPSILON_1 ) ||
313 // Or equal to negation of rhs
314 ( fabsf(mVector.x + rhs.mVector.x) < Math::MACHINE_EPSILON_1 &&
315 fabsf(mVector.y + rhs.mVector.y) < Math::MACHINE_EPSILON_1 &&
316 fabsf(mVector.z + rhs.mVector.z) < Math::MACHINE_EPSILON_1 &&
317 fabsf(mVector.w + rhs.mVector.w) < Math::MACHINE_EPSILON_1 )
321 bool Quaternion::operator!= (const Quaternion& rhs) const
323 return !operator==(rhs);
326 float Quaternion::Length() const
328 return (float)sqrt(mVector.w * mVector.w + mVector.Dot(mVector));
331 float Quaternion::LengthSquared() const
333 return (float)(mVector.w * mVector.w + mVector.Dot(mVector));
336 void Quaternion::Normalize()
341 Quaternion Quaternion::Normalized() const
343 return *this/Length();
346 void Quaternion::Conjugate()
348 mVector.x = -mVector.x;
349 mVector.y = -mVector.y;
350 mVector.z = -mVector.z;
353 void Quaternion::Invert()
356 *this/=LengthSquared();
359 Quaternion Quaternion::Log() const
361 float a = acosf(mVector.w);
362 float sina = sinf(a);
366 if (fabsf(sina) >= Math::MACHINE_EPSILON_1)
368 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
370 float angleBySinAngle = a * (1.0f / sina);
371 ret.mVector.x = mVector.x * angleBySinAngle;
372 ret.mVector.y = mVector.y * angleBySinAngle;
373 ret.mVector.z = mVector.z * angleBySinAngle;
377 ret.mVector.x= ret.mVector.y= ret.mVector.z= 0;
382 Quaternion Quaternion::Exp() const
384 DALI_ASSERT_ALWAYS( EqualsZero( mVector.w ) && "Cannot perform Exponent" );
386 float a = mVector.Length();
387 float sina = sinf(a);
390 ret.mVector.w = cosf(a);
392 if (a >= Math::MACHINE_EPSILON_1)
394 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
396 float sinAOverA = sina * (1.0f / a);
397 ret.mVector.x = mVector.x * sinAOverA;
398 ret.mVector.y = mVector.y * sinAOverA;
399 ret.mVector.z = mVector.z * sinAOverA;
403 ret.mVector.x = ret.mVector.y = ret.mVector.z = 0.0f;
408 float Quaternion::Dot(const Quaternion &q1, const Quaternion &q2)
410 return q1.mVector.Dot4(q2.mVector);
413 Quaternion Quaternion::Lerp(const Quaternion &q1, const Quaternion &q2, float t)
415 return (q1*(1.0f-t) + q2*t).Normalized();
418 Quaternion Quaternion::Slerp(const Quaternion &q1, const Quaternion &q2, float progress)
421 float cosTheta = Quaternion::Dot(q1, q2);
424 * If cos(theta) < 0, q1 and q2 are more than 90 degrees apart,
425 * so invert one to reduce spinning.
429 cosTheta = -cosTheta;
437 if (fabsf(cosTheta) < 0.95f)
439 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,5);
442 float sine = sqrtf(1.0f - cosTheta*cosTheta);
443 float angle = atan2f(sine, cosTheta);
444 float invSine = 1.0f / sine;
445 float coeff0 = sinf((1.0f - progress) * angle) * invSine;
446 float coeff1 = sinf(progress * angle) * invSine;
448 return q1*coeff0 + q3*coeff1;
452 // If the angle is small, use linear interpolation
453 Quaternion result = q1*(1.0f - progress) + q3*progress;
455 return result.Normalized();
459 Quaternion Quaternion::SlerpNoInvert(const Quaternion &q1, const Quaternion &q2, float t)
461 float cosTheta = Quaternion::Dot(q1, q2);
463 if (cosTheta > -0.95f && cosTheta < 0.95f)
465 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,2);
467 float theta = acosf(cosTheta);
468 return (q1*sinf(theta*(1.0f-t)) + q2*sinf(theta*t))/sinf(theta);
472 return Lerp(q1, q2, t);
476 Quaternion Quaternion::Squad(
477 const Quaternion &q1, // start
478 const Quaternion &q2, // end
479 const Quaternion &a, // ctrl pt for q1
480 const Quaternion &b, // ctrl pt for q2
483 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,2);
485 Quaternion c = SlerpNoInvert(q1, q2, t);
486 Quaternion d = SlerpNoInvert(a, b, t);
487 return SlerpNoInvert(c, d, 2*t*(1-t));
490 float Quaternion::AngleBetween(const Quaternion &q1, const Quaternion &q2)
498 //Formula for angle θ between two quaternion is:
499 //θ = cos^−1 (2⟨q1,q2⟩^2 − 1), Where (q1,q2) is inner product of the quaternions.
500 float X = from.mVector.Dot4(to.mVector);
501 float theta = acos( (2 * X * X) - 1);
506 Vector4 Quaternion::Rotate(const Vector4 &v) const
508 Quaternion V(0.0f, v.x, v.y, v.z);
509 Quaternion conjugate(*this);
510 conjugate.Conjugate();
511 return (*this * V * conjugate).mVector;
514 Vector3 Quaternion::Rotate(const Vector3 &v) const
516 Quaternion V(0.0f, v.x, v.y, v.z);
517 Quaternion conjugate(*this);
518 conjugate.Conjugate();
519 return Vector3((*this * V * conjugate).mVector);
522 void Quaternion::SetFromAxes( const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis )
524 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
526 float t = xAxis.x + yAxis.y + zAxis.z;
527 if ( t > 0.0f ) // w is largest
529 float root = sqrtf( t + 1.0f );
530 float one_over_4w = 0.5f / root;
531 mVector.x = ( yAxis.z - zAxis.y ) * one_over_4w;
532 mVector.y = ( zAxis.x - xAxis.z ) * one_over_4w;
533 mVector.z = ( xAxis.y - yAxis.x ) * one_over_4w;
534 mVector.w = root * 0.5f;
536 else if( zAxis.z > xAxis.x && zAxis.z > yAxis.y ) // z is largest
538 float root = sqrtf( zAxis.z - xAxis.x - yAxis.y + 1.0f );
539 float one_over_4w = 0.5f / root;
540 mVector.x = ( xAxis.z + zAxis.x ) * one_over_4w;
541 mVector.y = ( yAxis.z + zAxis.y ) * one_over_4w;
542 mVector.z = root * 0.5f;
543 mVector.w = ( xAxis.y - yAxis.x ) * one_over_4w;
545 else if( yAxis.y > xAxis.x ) // y is largest
547 float root = sqrtf(yAxis.y - zAxis.z - xAxis.x + 1.0f );
548 float one_over_4w = 0.5f / root;
550 mVector.x = ( xAxis.y + yAxis.x ) * one_over_4w;
551 mVector.y = root * 0.5f;
552 mVector.z = ( zAxis.y + yAxis.z ) * one_over_4w;
553 mVector.w = ( zAxis.x - xAxis.z ) * one_over_4w;
557 float root = sqrtf( xAxis.x - yAxis.y - zAxis.z + 1.0f );
558 float one_over_4w = 0.5f / root;
559 mVector.x = root * 0.5f;
560 mVector.y = ( yAxis.x + xAxis.y ) * one_over_4w;
561 mVector.z = ( zAxis.x + xAxis.z ) * one_over_4w;
562 mVector.w = ( yAxis.z - zAxis.y ) * one_over_4w;
568 std::ostream& operator<< (std::ostream& o, const Quaternion& quaternion)
573 quaternion.ToAxisAngle( axis, angleRadians );
574 Degree degrees = Radian(angleRadians);
576 return o << "[ Axis: [" << axis.x << ", " << axis.y << ", " << axis.z << "], Angle: " << degrees << " degrees ]";