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C#: Fix `Quaternion.CubicSlerp`

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Raul Santos 2022-08-24 11:29:47 +02:00
parent 8ad0ef75b8
commit f72b7a1595
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GPG Key ID: B532473AE3A803E4
1 changed files with 40 additions and 13 deletions
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53
modules/mono/glue/GodotSharp/GodotSharp/Core/Quaternion.cs
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@ -142,10 +142,43 @@ namespace Godot
/// <returns>The interpolated quaternion.</returns>
public Quaternion CubicSlerp(Quaternion b, Quaternion preA, Quaternion postB, real_t weight)
{
real_t t2 = (1.0f - weight) * weight * 2f;
Quaternion sp = Slerp(b, weight);
Quaternion sq = preA.Slerpni(postB, weight);
return sp.Slerpni(sq, t2);
// Align flip phases.
Quaternion retQ = new Basis(this).GetRotationQuaternion();
Quaternion preQ = new Basis(preA).GetRotationQuaternion();
Quaternion toQ = new Basis(b).GetRotationQuaternion();
Quaternion postQ = new Basis(postB).GetRotationQuaternion();
// Flip quaternions to shortest path if necessary.
bool flip1 = Math.Sign(retQ.Dot(preQ)) < 0;
preQ = flip1 ? -preQ : preQ;
bool flip2 = Math.Sign(retQ.Dot(toQ)) < 0;
toQ = flip2 ? -toQ : toQ;
bool flip3 = flip2 ? toQ.Dot(postQ) <= 0 : Math.Sign(toQ.Dot(postQ)) < 0;
postQ = flip3 ? -postQ : postQ;
if (flip1 || flip2 || flip3)
{
// Angle is too large, calc by Approximate.
retQ.x = Mathf.CubicInterpolate(retQ.x, toQ.x, preQ.x, postQ.x, weight);
retQ.y = Mathf.CubicInterpolate(retQ.y, toQ.y, preQ.y, postQ.y, weight);
retQ.z = Mathf.CubicInterpolate(retQ.z, toQ.z, preQ.z, postQ.z, weight);
retQ.w = Mathf.CubicInterpolate(retQ.w, toQ.w, preQ.w, postQ.w, weight);
retQ = retQ.Normalized();
}
else
{
// Calc by Expmap.
Quaternion ln_ret = retQ.Log();
Quaternion ln_to = toQ.Log();
Quaternion ln_pre = preQ.Log();
Quaternion ln_post = postQ.Log();
Quaternion ln = new Quaternion(0, 0, 0, 0);
ln.x = Mathf.CubicInterpolate(ln_ret.x, ln_to.x, ln_pre.x, ln_post.x, weight);
ln.y = Mathf.CubicInterpolate(ln_ret.y, ln_to.y, ln_pre.y, ln_post.y, weight);
ln.z = Mathf.CubicInterpolate(ln_ret.z, ln_to.z, ln_pre.z, ln_post.z, weight);
retQ = ln.Exp();
}
return retQ;
}
/// <summary>
@ -267,7 +300,7 @@ namespace Godot
#endif
// Calculate cosine.
real_t cosom = x * to.x + y * to.y + z * to.z + w * to.w;
real_t cosom = Dot(to);
var to1 = new Quaternion();
@ -275,17 +308,11 @@ namespace Godot
if (cosom < 0.0)
{
cosom = -cosom;
to1.x = -to.x;
to1.y = -to.y;
to1.z = -to.z;
to1.w = -to.w;
to1 = -to;
}
else
{
to1.x = to.x;
to1.y = to.y;
to1.z = to.z;
to1.w = to.w;
to1 = to;
}
real_t sinom, scale0, scale1;