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Add threshold for slerp calculation, switching between linear and slerp at this point. 

git-svn-id: svn://svn.code.sf.net/p/irrlicht/code/trunk@4046 dfc29bdd-3216-0410-991c-e03cc46cb475
master
hybrid 2012-01-20 09:51:47 +00:00
parent 7db87025c3
commit c82925896d
1 changed files with 24 additions and 8 deletions
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32
include/quaternion.h
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@ -120,11 +120,29 @@ class quaternion
//! Inverts this quaternion //! Inverts this quaternion
quaternion& makeInverse(); quaternion& makeInverse();
//! Set this quaternion to the result of the linear interpolation between two quaternions //! Set this quaternion to the linear interpolation between two quaternions
/** \param q1 First quaternion to be interpolated.
\param q2 Second quaternion to be interpolated.
\param time Progress of interpolation. For time=0 the result is
q1, for time=1 the result is q2. Otherwise interpolation
between q1 and q2.
*/
quaternion& lerp(quaternion q1, quaternion q2, f32 time); quaternion& lerp(quaternion q1, quaternion q2, f32 time);
//! Set this quaternion to the result of the spherical interpolation between two quaternions //! Set this quaternion to the result of the spherical interpolation between two quaternions
quaternion& slerp( quaternion q1, quaternion q2, f32 interpolate ); /** \param q1 First quaternion to be interpolated.
\param q2 Second quaternion to be interpolated.
\param time Progress of interpolation. For time=0 the result is
q1, for time=1 the result is q2. Otherwise interpolation
between q1 and q2.
\param threshold To avoid inaccuracies at the end (time=1) the
interpolation switches to linear interpolation at some point.
This value defines how much of the remaining interpolation will
be calculated with lerp. Everything from 1-threshold up will be
linear interpolation.
*/
quaternion& slerp(quaternion q1, quaternion q2,
f32 time, f32 threshold=.05f);
//! Create quaternion from rotation angle and rotation axis. //! Create quaternion from rotation angle and rotation axis.
/** Axis must be unit length. /** Axis must be unit length.
@ -497,13 +515,12 @@ inline quaternion& quaternion::normalize()
inline quaternion& quaternion::lerp(quaternion q1, quaternion q2, f32 time) inline quaternion& quaternion::lerp(quaternion q1, quaternion q2, f32 time)
{ {
const f32 scale = 1.0f - time; const f32 scale = 1.0f - time;
const f32 invscale = time; return (*this = (q1*scale) + (q2*time));
return (*this = (q1*scale) + (q2*invscale));
} }
// set this quaternion to the result of the interpolation between two quaternions // set this quaternion to the result of the interpolation between two quaternions
inline quaternion& quaternion::slerp(quaternion q1, quaternion q2, f32 time) inline quaternion& quaternion::slerp(quaternion q1, quaternion q2, f32 time, f32 threshold)
{ {
f32 angle = q1.dotProduct(q2); f32 angle = q1.dotProduct(q2);
@ -514,7 +531,7 @@ inline quaternion& quaternion::slerp(quaternion q1, quaternion q2, f32 time)
angle *= -1.0f; angle *= -1.0f;
} }
if (angle <= 0.95f) // spherical interpolation if (angle <= (1-threshold)) // spherical interpolation
{ {
const f32 theta = acosf(angle); const f32 theta = acosf(angle);
const f32 invsintheta = reciprocal(sinf(theta)); const f32 invsintheta = reciprocal(sinf(theta));
@ -534,8 +551,7 @@ inline f32 quaternion::dotProduct(const quaternion& q2) const
} }
//! axis must be unit length //! axis must be unit length, angle in radians
//! angle in radians
inline quaternion& quaternion::fromAngleAxis(f32 angle, const vector3df& axis) inline quaternion& quaternion::fromAngleAxis(f32 angle, const vector3df& axis)
{ {
const f32 fHalfAngle = 0.5f*angle; const f32 fHalfAngle = 0.5f*angle;