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/internal/render/common/performance-monitor.h>
30 using Internal::PerformanceMonitor;
32 const Quaternion Quaternion::IDENTITY;
38 Quaternion::Quaternion()
39 : mVector(0.0f, 0.0f, 0.0f, 1.0f)
43 Quaternion::Quaternion(float cosThetaBy2, float iBySineTheta, float jBySineTheta, float kBySineTheta) :
44 mVector(iBySineTheta, jBySineTheta, kBySineTheta, cosThetaBy2)
48 Quaternion::Quaternion(const Vector4& vector)
53 Quaternion::Quaternion(float angle, const Vector3 &axis)
55 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
57 Vector3 tmpAxis = axis;
59 const float halfAngle = angle * 0.5f;
60 const float sinThetaByTwo = sinf(halfAngle);
61 const float cosThetaByTwo = cosf(halfAngle);
62 mVector.x = tmpAxis.x * sinThetaByTwo;
63 mVector.y = tmpAxis.y * sinThetaByTwo;
64 mVector.z = tmpAxis.z * sinThetaByTwo;
65 mVector.w = cosThetaByTwo;
68 Quaternion::Quaternion(float theta, const Vector4 &axis)
70 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
72 Vector4 tmpAxis = axis;
74 const float halfTheta = theta * 0.5f;
75 const float sinThetaByTwo = sinf(halfTheta);
76 const float cosThetaByTwo = cosf(halfTheta);
77 mVector.x = tmpAxis.x * sinThetaByTwo;
78 mVector.y = tmpAxis.y * sinThetaByTwo;
79 mVector.z = tmpAxis.z * sinThetaByTwo;
80 mVector.w = cosThetaByTwo;
83 Quaternion::Quaternion(float x, float y, float z)
88 Quaternion::Quaternion(const Matrix& matrix)
90 Vector3 xAxis( matrix.GetXAxis() );
91 Vector3 yAxis( matrix.GetYAxis() );
92 Vector3 zAxis( matrix.GetZAxis() );
94 SetFromAxes( xAxis, yAxis, zAxis );
97 Quaternion::Quaternion( const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis )
99 SetFromAxes( xAxis, yAxis, zAxis );
103 Quaternion Quaternion::FromAxisAngle(const Vector4 &axis, float angle)
105 return Quaternion(angle, axis);
108 Quaternion::~Quaternion()
112 bool Quaternion::ToAxisAngle(Vector3 &axis, float &angle) const
114 angle = acosf(mVector.w);
115 bool converted = false;
116 // pre-compute to save time
117 const float sine = sinf( angle );
119 // If sine(angle) is zero, conversion is not possible
121 if ( ! EqualsZero( sine ) )
123 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,3);
125 float sinf_theta_inv = 1.0f / sine;
127 axis.x = mVector.x*sinf_theta_inv;
128 axis.y = mVector.y*sinf_theta_inv;
129 axis.z = mVector.z*sinf_theta_inv;
136 bool Quaternion::ToAxisAngle(Vector4 &axis, float &angle) const
139 bool converted = ToAxisAngle(axis3, angle);
150 const Vector4& Quaternion::AsVector() const
155 void Quaternion::SetEuler(float x, float y, float z)
157 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,19);
159 const float halfX = 0.5f * x;
160 const float halfY = 0.5f * y;
161 const float halfZ = 0.5f * z;
163 float cosX2 = cosf(halfX);
164 float cosY2 = cosf(halfY);
165 float cosZ2 = cosf(halfZ);
167 float sinX2 = sinf(halfX);
168 float sinY2 = sinf(halfY);
169 float sinZ2 = sinf(halfZ);
171 mVector.w = cosZ2 * cosY2 * cosX2 + sinZ2 * sinY2 * sinX2;
172 mVector.x = cosZ2 * cosY2 * sinX2 - sinZ2 * sinY2 * cosX2;
173 mVector.y = cosZ2 * sinY2 * cosX2 + sinZ2 * cosY2 * sinX2;
174 mVector.z = sinZ2 * cosY2 * cosX2 - cosZ2 * sinY2 * sinX2;
177 Vector4 Quaternion::EulerAngles() const
179 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,13);
181 float sqw = mVector.w*mVector.w;
182 float sqx = mVector.x*mVector.x;
183 float sqy = mVector.y*mVector.y;
184 float sqz = mVector.z*mVector.z;
187 euler.x = atan2f(2.0f * (mVector.y*mVector.z + mVector.x*mVector.w), -sqx - sqy + sqz + sqw);
188 euler.y = asinf(-2.0f * (mVector.x*mVector.z - mVector.y*mVector.w));
189 euler.z = atan2f(2.0f * (mVector.x*mVector.y + mVector.z*mVector.w), sqx - sqy - sqz + sqw);
193 const Quaternion Quaternion::operator +(const Quaternion &other) const
195 return Quaternion(mVector + other.mVector);
198 const Quaternion Quaternion::operator -(const Quaternion &other) const
200 return Quaternion(mVector - other.mVector);
203 const Quaternion Quaternion::operator *(const Quaternion &other) const
205 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,12);
207 return Quaternion(mVector.w * other.mVector.w - mVector.Dot(other.mVector),
208 mVector.y * other.mVector.z - mVector.z * other.mVector.y + mVector.w * other.mVector.x + mVector.x * other.mVector.w,
209 mVector.z * other.mVector.x - mVector.x * other.mVector.z + mVector.w * other.mVector.y + mVector.y * other.mVector.w,
210 mVector.x * other.mVector.y - mVector.y * other.mVector.x + mVector.w * other.mVector.z + mVector.z * other.mVector.w);
213 Vector3 Quaternion::operator *(const Vector3& v) const
215 // nVidia SDK implementation
217 Vector3 qvec(mVector.x, mVector.y, mVector.z);
219 uuv = qvec.Cross(uv);
220 uv *= (2.0f * mVector.w);
226 const Quaternion Quaternion::operator /(const Quaternion &q) const
233 const Quaternion Quaternion::operator *(float scale) const
235 return Quaternion(mVector*scale);
238 const Quaternion Quaternion::operator /(float scale) const
240 return Quaternion(mVector/scale);
243 Quaternion Quaternion::operator -() const
245 return Quaternion(-mVector.w, -mVector.x, -mVector.y, -mVector.z);
248 const Quaternion& Quaternion::operator +=(const Quaternion &q)
250 mVector += q.mVector; return *this;
253 const Quaternion& Quaternion::operator -=(const Quaternion &q)
255 mVector -= q.mVector; return *this;
258 const Quaternion& Quaternion::operator *=(const Quaternion &q)
260 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,12);
262 float x = mVector.x, y = mVector.y, z = mVector.z, w = mVector.w;
264 mVector.w = mVector.w * q.mVector.w - mVector.Dot(q.mVector);
265 mVector.x = y*q.mVector.z - z*q.mVector.y + w*q.mVector.x + x*q.mVector.w;
266 mVector.y = z*q.mVector.x - x*q.mVector.z + w*q.mVector.y + y*q.mVector.w;
267 mVector.z = x*q.mVector.y - y*q.mVector.x + w*q.mVector.z + z*q.mVector.w;
271 const Quaternion& Quaternion::operator *= (float scale)
273 mVector*=scale; return *this;
276 const Quaternion& Quaternion::operator /= (float scale)
278 mVector/=scale; return *this;
281 bool Quaternion::operator== (const Quaternion& rhs) const
283 return ( ( fabsf(mVector.x - rhs.mVector.x) < Math::MACHINE_EPSILON_1 &&
284 fabsf(mVector.y - rhs.mVector.y) < Math::MACHINE_EPSILON_1 &&
285 fabsf(mVector.z - rhs.mVector.z) < Math::MACHINE_EPSILON_1 &&
286 fabsf(mVector.w - rhs.mVector.w) < Math::MACHINE_EPSILON_1 ) ||
287 // Or equal to negation of rhs
288 ( fabsf(mVector.x + rhs.mVector.x) < Math::MACHINE_EPSILON_1 &&
289 fabsf(mVector.y + rhs.mVector.y) < Math::MACHINE_EPSILON_1 &&
290 fabsf(mVector.z + rhs.mVector.z) < Math::MACHINE_EPSILON_1 &&
291 fabsf(mVector.w + rhs.mVector.w) < Math::MACHINE_EPSILON_1 )
295 bool Quaternion::operator!= (const Quaternion& rhs) const
297 return !operator==(rhs);
300 float Quaternion::Length() const
302 return (float)sqrt(mVector.w * mVector.w + mVector.Dot(mVector));
305 float Quaternion::LengthSquared() const
307 return (float)(mVector.w * mVector.w + mVector.Dot(mVector));
310 void Quaternion::Normalize()
315 Quaternion Quaternion::Normalized() const
317 return *this/Length();
320 void Quaternion::Conjugate()
322 mVector.x = -mVector.x;
323 mVector.y = -mVector.y;
324 mVector.z = -mVector.z;
327 void Quaternion::Invert()
330 *this/=LengthSquared();
333 Quaternion Quaternion::Log() const
335 float a = acosf(mVector.w);
336 float sina = sinf(a);
340 if (fabsf(sina) >= Math::MACHINE_EPSILON_1)
342 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
344 float angleBySinAngle = a * (1.0f / sina);
345 ret.mVector.x = mVector.x * angleBySinAngle;
346 ret.mVector.y = mVector.y * angleBySinAngle;
347 ret.mVector.z = mVector.z * angleBySinAngle;
351 ret.mVector.x= ret.mVector.y= ret.mVector.z= 0;
356 Quaternion Quaternion::Exp() const
358 DALI_ASSERT_ALWAYS( EqualsZero( mVector.w ) && "Cannot perform Exponent" );
360 float a = mVector.Length();
361 float sina = sinf(a);
364 ret.mVector.w = cosf(a);
366 if (a >= Math::MACHINE_EPSILON_1)
368 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
370 float sinAOverA = sina * (1.0f / a);
371 ret.mVector.x = mVector.x * sinAOverA;
372 ret.mVector.y = mVector.y * sinAOverA;
373 ret.mVector.z = mVector.z * sinAOverA;
377 ret.mVector.x = ret.mVector.y = ret.mVector.z = 0.0f;
382 float Quaternion::Dot(const Quaternion &q1, const Quaternion &q2)
384 return q1.mVector.Dot4(q2.mVector);
387 Quaternion Quaternion::Lerp(const Quaternion &q1, const Quaternion &q2, float t)
389 return (q1*(1.0f-t) + q2*t).Normalized();
392 Quaternion Quaternion::Slerp(const Quaternion &q1, const Quaternion &q2, float progress)
395 float cosTheta = Quaternion::Dot(q1, q2);
398 * If cos(theta) < 0, q1 and q2 are more than 90 degrees apart,
399 * so invert one to reduce spinning.
403 cosTheta = -cosTheta;
411 if (fabsf(cosTheta) < 0.95f)
413 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,5);
416 float sine = sqrtf(1.0f - cosTheta*cosTheta);
417 float angle = atan2f(sine, cosTheta);
418 float invSine = 1.0f / sine;
419 float coeff0 = sinf((1.0f - progress) * angle) * invSine;
420 float coeff1 = sinf(progress * angle) * invSine;
422 return q1*coeff0 + q3*coeff1;
426 // If the angle is small, use linear interpolation
427 Quaternion result = q1*(1.0f - progress) + q3*progress;
429 return result.Normalized();
433 Quaternion Quaternion::SlerpNoInvert(const Quaternion &q1, const Quaternion &q2, float t)
435 float cosTheta = Quaternion::Dot(q1, q2);
437 if (cosTheta > -0.95f && cosTheta < 0.95f)
439 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,2);
441 float theta = acosf(cosTheta);
442 return (q1*sinf(theta*(1.0f-t)) + q2*sinf(theta*t))/sinf(theta);
446 return Lerp(q1, q2, t);
450 Quaternion Quaternion::Squad(
451 const Quaternion &q1, // start
452 const Quaternion &q2, // end
453 const Quaternion &a, // ctrl pt for q1
454 const Quaternion &b, // ctrl pt for q2
457 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,2);
459 Quaternion c = SlerpNoInvert(q1, q2, t);
460 Quaternion d = SlerpNoInvert(a, b, t);
461 return SlerpNoInvert(c, d, 2*t*(1-t));
464 float Quaternion::AngleBetween(const Quaternion &q1, const Quaternion &q2)
472 //Formula for angle θ between two quaternion is:
473 //θ = cos^−1 (2⟨q1,q2⟩^2 − 1), Where (q1,q2) is inner product of the quaternions.
474 float X = from.mVector.Dot4(to.mVector);
475 float theta = acos( (2 * X * X) - 1);
480 Vector4 Quaternion::Rotate(const Vector4 &v) const
482 Quaternion V(0.0f, v.x, v.y, v.z);
483 Quaternion conjugate(*this);
484 conjugate.Conjugate();
485 return (*this * V * conjugate).mVector;
488 Vector3 Quaternion::Rotate(const Vector3 &v) const
490 Quaternion V(0.0f, v.x, v.y, v.z);
491 Quaternion conjugate(*this);
492 conjugate.Conjugate();
493 return Vector3((*this * V * conjugate).mVector);
496 void Quaternion::SetFromAxes( const Vector3& xAxis, const Vector3& yAxis, const Vector3& zAxis )
498 MATH_INCREASE_BY(PerformanceMonitor::FLOAT_POINT_MULTIPLY,4);
500 float t = xAxis.x + yAxis.y + zAxis.z;
501 if ( t > 0.0f ) // w is largest
503 float root = sqrtf( t + 1.0f );
504 float one_over_4w = 0.5f / root;
505 mVector.x = ( yAxis.z - zAxis.y ) * one_over_4w;
506 mVector.y = ( zAxis.x - xAxis.z ) * one_over_4w;
507 mVector.z = ( xAxis.y - yAxis.x ) * one_over_4w;
508 mVector.w = root * 0.5f;
510 else if( zAxis.z > xAxis.x && zAxis.z > yAxis.y ) // z is largest
512 float root = sqrtf( zAxis.z - xAxis.x - yAxis.y + 1.0f );
513 float one_over_4w = 0.5f / root;
514 mVector.x = ( xAxis.z + zAxis.x ) * one_over_4w;
515 mVector.y = ( yAxis.z + zAxis.y ) * one_over_4w;
516 mVector.z = root * 0.5f;
517 mVector.w = ( xAxis.y - yAxis.x ) * one_over_4w;
519 else if( yAxis.y > xAxis.x ) // y is largest
521 float root = sqrtf(yAxis.y - zAxis.z - xAxis.x + 1.0f );
522 float one_over_4w = 0.5f / root;
524 mVector.x = ( xAxis.y + yAxis.x ) * one_over_4w;
525 mVector.y = root * 0.5f;
526 mVector.z = ( zAxis.y + yAxis.z ) * one_over_4w;
527 mVector.w = ( zAxis.x - xAxis.z ) * one_over_4w;
531 float root = sqrtf( xAxis.x - yAxis.y - zAxis.z + 1.0f );
532 float one_over_4w = 0.5f / root;
533 mVector.x = root * 0.5f;
534 mVector.y = ( yAxis.x + xAxis.y ) * one_over_4w;
535 mVector.z = ( zAxis.x + xAxis.z ) * one_over_4w;
536 mVector.w = ( yAxis.z - zAxis.y ) * one_over_4w;
542 std::ostream& operator<< (std::ostream& o, const Quaternion& quaternion)
547 quaternion.ToAxisAngle( axis, angleRadians );
548 Degree degrees = Radian(angleRadians);
550 return o << "[ Axis: [" << axis.x << ", " << axis.y << ", " << axis.z << "], Angle: " << degrees << " degrees ]";