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Clean up quaternion_from_matrix(3|4) code

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gingerBill
2020-09-10 21:19:59 +01:00
parent 079b887313
commit 97846d8390
1 changed files with 71 additions and 132 deletions
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core/math/linalg/specific.odin
+71 -132
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@@ -297,121 +297,61 @@ quaternion_squad :: proc(q1, q2, s1, s2: Quaternion, h: Float) -> Quaternion {
quaternion_from_matrix4 :: proc(m: Matrix4) -> (q: Quaternion) { quaternion_from_matrix4 :: proc(m: Matrix4) -> (q: Quaternion) {
four_x_squared_minus_1, four_y_squared_minus_1, m3: Matrix3 = ---;
four_z_squared_minus_1, four_w_squared_minus_1, m3[0][0], m3[0][1], m3[0][2] = m[0][0], m[0][1], m[0][2];
four_biggest_squared_minus_1: Float; m3[1][0], m3[1][1], m3[1][2] = m[1][0], m[1][1], m[1][2];
m3[2][0], m3[2][1], m3[2][2] = m[2][0], m[2][1], m[2][2];
/* xyzw */ return quaternion_from_matrix3(m3);
/* 0123 */
biggest_index := 3;
biggest_value, mult: Float;
four_x_squared_minus_1 = m[0][0] - m[1][1] - m[2][2];
four_y_squared_minus_1 = m[1][1] - m[0][0] - m[2][2];
four_z_squared_minus_1 = m[2][2] - m[0][0] - m[1][1];
four_w_squared_minus_1 = m[0][0] + m[1][1] + m[2][2];
four_biggest_squared_minus_1 = four_w_squared_minus_1;
if four_x_squared_minus_1 > four_biggest_squared_minus_1 {
four_biggest_squared_minus_1 = four_x_squared_minus_1;
biggest_index = 0;
}
if four_y_squared_minus_1 > four_biggest_squared_minus_1 {
four_biggest_squared_minus_1 = four_y_squared_minus_1;
biggest_index = 1;
}
if four_z_squared_minus_1 > four_biggest_squared_minus_1 {
four_biggest_squared_minus_1 = four_z_squared_minus_1;
biggest_index = 2;
}
biggest_value = math.sqrt(four_biggest_squared_minus_1 + 1) * 0.5;
mult = 0.25 / biggest_value;
switch biggest_index {
case 0:
q.w = biggest_value;
q.x = (m[0][1] + m[1][0]) * mult;
q.y = (m[2][0] + m[0][2]) * mult;
q.z = (m[1][2] - m[2][1]) * mult;
case 1:
q.w = (m[0][1] + m[1][0]) * mult;
q.x = biggest_value;
q.y = (m[1][2] + m[2][1]) * mult;
q.z = (m[2][0] - m[0][2]) * mult;
case 2:
q.w = (m[2][0] + m[0][2]) * mult;
q.x = (m[1][2] + m[2][1]) * mult;
q.y = biggest_value;
q.z = (m[0][1] - m[1][0]) * mult;
case 3:
q.w = (m[1][2] - m[2][1]) * mult;
q.x = (m[2][0] - m[0][2]) * mult;
q.y = (m[0][1] - m[1][0]) * mult;
q.z = biggest_value;
}
return;
} }
quaternion_from_matrix3 :: proc(m: Matrix3) -> (q: Quaternion) { quaternion_from_matrix3 :: proc(m: Matrix3) -> (q: Quaternion) {
four_x_squared_minus_1, four_y_squared_minus_1, four_x_squared_minus_1 := m[0][0] - m[1][1] - m[2][2];
four_z_squared_minus_1, four_w_squared_minus_1, four_y_squared_minus_1 := m[1][1] - m[0][0] - m[2][2];
four_biggest_squared_minus_1: Float; four_z_squared_minus_1 := m[2][2] - m[0][0] - m[1][1];
four_w_squared_minus_1 := m[0][0] + m[1][1] + m[2][2];
/* xyzw */ biggest_index := 0;
/* 0123 */ four_biggest_squared_minus_1 := four_w_squared_minus_1;
biggest_index := 3;
biggest_value, mult: Float;
four_x_squared_minus_1 = m[0][0] - m[1][1] - m[2][2];
four_y_squared_minus_1 = m[1][1] - m[0][0] - m[2][2];
four_z_squared_minus_1 = m[2][2] - m[0][0] - m[1][1];
four_w_squared_minus_1 = m[0][0] + m[1][1] + m[2][2];
four_biggest_squared_minus_1 = four_w_squared_minus_1;
if four_x_squared_minus_1 > four_biggest_squared_minus_1 { if four_x_squared_minus_1 > four_biggest_squared_minus_1 {
four_biggest_squared_minus_1 = four_x_squared_minus_1; four_biggest_squared_minus_1 = four_x_squared_minus_1;
biggest_index = 0; biggest_index = 1;
} }
if four_y_squared_minus_1 > four_biggest_squared_minus_1 { if four_y_squared_minus_1 > four_biggest_squared_minus_1 {
four_biggest_squared_minus_1 = four_y_squared_minus_1; four_biggest_squared_minus_1 = four_y_squared_minus_1;
biggest_index = 1; biggest_index = 2;
} }
if four_z_squared_minus_1 > four_biggest_squared_minus_1 { if four_z_squared_minus_1 > four_biggest_squared_minus_1 {
four_biggest_squared_minus_1 = four_z_squared_minus_1; four_biggest_squared_minus_1 = four_z_squared_minus_1;
biggest_index = 2; biggest_index = 3;
} }
biggest_value = math.sqrt(four_biggest_squared_minus_1 + 1) * 0.5; biggest_val := math.sqrt(four_biggest_squared_minus_1 + 1) * 0.5;
mult = 0.25 / biggest_value; mult := 0.25 / biggest_val;
q = 1;
switch biggest_index { switch biggest_index {
case 0: case 0:
q.w = biggest_value; q.w = biggest_val;
q.x = (m[0][1] + m[1][0]) * mult; q.x = (m[1][2] - m[2][1]) * mult;
q.y = (m[2][0] + m[0][2]) * mult; q.y = (m[2][0] - m[0][2]) * mult;
q.z = (m[1][2] - m[2][1]) * mult;
case 1:
q.w = (m[0][1] + m[1][0]) * mult;
q.x = biggest_value;
q.y = (m[1][2] + m[2][1]) * mult;
q.z = (m[2][0] - m[0][2]) * mult;
case 2:
q.w = (m[2][0] + m[0][2]) * mult;
q.x = (m[1][2] + m[2][1]) * mult;
q.y = biggest_value;
q.z = (m[0][1] - m[1][0]) * mult; q.z = (m[0][1] - m[1][0]) * mult;
case 3: case 1:
q.w = (m[1][2] - m[2][1]) * mult; q.w = (m[1][2] - m[2][1]) * mult;
q.x = (m[2][0] - m[0][2]) * mult; q.x = biggest_val;
q.y = (m[0][1] - m[1][0]) * mult; q.y = (m[0][1] + m[1][0]) * mult;
q.z = biggest_value; q.z = (m[2][0] + m[0][2]) * mult;
case 2:
q.w = (m[2][0] - m[0][2]) * mult;
q.x = (m[0][1] + m[1][0]) * mult;
q.y = biggest_val;
q.z = (m[1][2] + m[2][1]) * mult;
case 3:
q.w = (m[0][1] - m[1][0]) * mult;
q.x = (m[2][0] + m[0][2]) * mult;
q.y = (m[1][2] + m[2][1]) * mult;
q.z = biggest_val;
} }
return; return;
} }
@@ -470,28 +410,27 @@ matrix2_adjoint :: proc(m: Matrix2) -> (c: Matrix2) {
matrix3_from_quaternion :: proc(q: Quaternion) -> (m: Matrix3) { matrix3_from_quaternion :: proc(q: Quaternion) -> (m: Matrix3) {
xx := q.x * q.x; qxx := q.x * q.x;
xy := q.x * q.y; qyy := q.y * q.y;
xz := q.x * q.z; qzz := q.z * q.z;
xw := q.x * q.w; qxz := q.x * q.z;
yy := q.y * q.y; qxy := q.x * q.y;
yz := q.y * q.z; qyz := q.y * q.z;
yw := q.y * q.w; qwx := q.w * q.x;
zz := q.z * q.z; qwy := q.w * q.y;
zw := q.z * q.w; qwz := q.w * q.z;
m[0][0] = 1 - 2 * (yy + zz); m[0][0] = 1 - 2 * (qyy + qzz);
m[1][0] = 2 * (xy - zw); m[0][1] = 2 * (qxy + qwz);
m[2][0] = 2 * (xz + yw); m[0][2] = 2 * (qxz - qwy);
m[0][1] = 2 * (xy + zw); m[1][0] = 2 * (qxy - qwz);
m[1][1] = 1 - 2 * (xx + zz); m[1][1] = 1 - 2 * (qxx + qzz);
m[2][1] = 2 * (yz - xw); m[1][2] = 2 * (qyz + qwx);
m[0][2] = 2 * (xz - yw);
m[1][2] = 2 * (yz + xw);
m[2][2] = 1 - 2 * (xx + yy);
m[2][0] = 2 * (qxz + qwy);
m[2][1] = 2 * (qyz - qwx);
m[2][2] = 1 - 2 * (qxx + qyy);
return m; return m;
} }
@@ -578,29 +517,29 @@ matrix3_look_at :: proc(eye, centre, up: Vector3) -> Matrix3 {
} }
matrix4_from_quaternion :: proc(q: Quaternion) -> (m: Matrix4) { matrix4_from_quaternion :: proc(q: Quaternion) -> (m: Matrix4) {
xx := q.x * q.x; qxx := q.x * q.x;
xy := q.x * q.y; qyy := q.y * q.y;
xz := q.x * q.z; qzz := q.z * q.z;
xw := q.x * q.w; qxz := q.x * q.z;
yy := q.y * q.y; qxy := q.x * q.y;
yz := q.y * q.z; qyz := q.y * q.z;
yw := q.y * q.w; qwx := q.w * q.x;
zz := q.z * q.z; qwy := q.w * q.y;
zw := q.z * q.w; qwz := q.w * q.z;
m = MATRIX4_IDENTITY; m[0][0] = 1 - 2 * (qyy + qzz);
m[0][1] = 2 * (qxy + qwz);
m[0][2] = 2 * (qxz - qwy);
m[0][0] = 1 - 2 * (yy + zz); m[1][0] = 2 * (qxy - qwz);
m[1][0] = 2 * (xy - zw); m[1][1] = 1 - 2 * (qxx + qzz);
m[2][0] = 2 * (xz + yw); m[1][2] = 2 * (qyz + qwx);
m[0][1] = 2 * (xy + zw); m[2][0] = 2 * (qxz + qwy);
m[1][1] = 1 - 2 * (xx + zz); m[2][1] = 2 * (qyz - qwx);
m[2][1] = 2 * (yz - xw); m[2][2] = 1 - 2 * (qxx + qyy);
m[0][2] = 2 * (xz - yw); m[3][3] = 1;
m[1][2] = 2 * (yz + xw);
m[2][2] = 1 - 2 * (xx + yy);
return m; return m;
} }