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d_a_obj_tumble_weed mostly done (#88)

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* mostly done

* Update d_t_tumble_weed.cpp

* remove cM::calcTimer

* just regswap on adjustSpeed

* Create inlines for angle between vectors

* name data symbols

---------

Co-authored-by: robojumper <robojumper@gmail.com>
This commit is contained in:
Elijah Thomas
2024-11-06 16:36:17 -05:00
committed by GitHub
parent f509c053e5
commit c235e32d95
34 changed files with 804 additions and 214 deletions
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src/egg/math/eggMatrix.cpp
+55 -55
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@@ -126,15 +126,15 @@ void Matrix34f::makeST(const Vector3f &s, const Vector3f &t) {
}
void Matrix34f::makeSQT(const Vector3f &s, const Quatf &q, const Vector3f &t) {
f32 yy = 2.0f * q.y * q.y;
f32 zz = 2.0f * q.z * q.z;
f32 xx = 2.0f * q.x * q.x;
f32 xy = 2.0f * q.x * q.y;
f32 xz = 2.0f * q.x * q.z;
f32 yz = 2.0f * q.y * q.z;
f32 wz = 2.0f * q.w * q.z;
f32 wx = 2.0f * q.w * q.x;
f32 wy = 2.0f * q.w * q.y;
f32 yy = 2.0f * q.v.y * q.v.y;
f32 zz = 2.0f * q.v.z * q.v.z;
f32 xx = 2.0f * q.v.x * q.v.x;
f32 xy = 2.0f * q.v.x * q.v.y;
f32 xz = 2.0f * q.v.x * q.v.z;
f32 yz = 2.0f * q.v.y * q.v.z;
f32 wz = 2.0f * q.w * q.v.z;
f32 wx = 2.0f * q.w * q.v.x;
f32 wy = 2.0f * q.w * q.v.y;
m[0][0] = s.x * (1.0f - yy - zz);
m[0][1] = s.y * (xy - wz);
@@ -154,15 +154,15 @@ void Matrix34f::makeSQT(const Vector3f &s, const Quatf &q, const Vector3f &t) {
}
void Matrix34f::makeQT(const Quatf &q, const Vector3f &t) {
f32 yy = 2.0f * q.y * q.y;
f32 zz = 2.0f * q.z * q.z;
f32 xx = 2.0f * q.x * q.x;
f32 xy = 2.0f * q.x * q.y;
f32 xz = 2.0f * q.x * q.z;
f32 yz = 2.0f * q.y * q.z;
f32 wz = 2.0f * q.w * q.z;
f32 wx = 2.0f * q.w * q.x;
f32 wy = 2.0f * q.w * q.y;
f32 yy = 2.0f * q.v.y * q.v.y;
f32 zz = 2.0f * q.v.z * q.v.z;
f32 xx = 2.0f * q.v.x * q.v.x;
f32 xy = 2.0f * q.v.x * q.v.y;
f32 xz = 2.0f * q.v.x * q.v.z;
f32 yz = 2.0f * q.v.y * q.v.z;
f32 wz = 2.0f * q.w * q.v.z;
f32 wx = 2.0f * q.w * q.v.x;
f32 wy = 2.0f * q.w * q.v.y;
m[0][0] = 1.0f - yy - zz;
m[0][1] = xy - wz;
@@ -182,15 +182,15 @@ void Matrix34f::makeQT(const Quatf &q, const Vector3f &t) {
}
void Matrix34f::makeQ(const Quatf &q) {
f32 yy = 2.0f * q.y * q.y;
f32 zz = 2.0f * q.z * q.z;
f32 xx = 2.0f * q.x * q.x;
f32 xy = 2.0f * q.x * q.y;
f32 xz = 2.0f * q.x * q.z;
f32 yz = 2.0f * q.y * q.z;
f32 wz = 2.0f * q.w * q.z;
f32 wx = 2.0f * q.w * q.x;
f32 wy = 2.0f * q.w * q.y;
f32 yy = 2.0f * q.v.y * q.v.y;
f32 zz = 2.0f * q.v.z * q.v.z;
f32 xx = 2.0f * q.v.x * q.v.x;
f32 xy = 2.0f * q.v.x * q.v.y;
f32 xz = 2.0f * q.v.x * q.v.z;
f32 yz = 2.0f * q.v.y * q.v.z;
f32 wz = 2.0f * q.w * q.v.z;
f32 wx = 2.0f * q.w * q.v.x;
f32 wy = 2.0f * q.w * q.v.y;
m[0][0] = 1.0f - yy - zz;
m[0][1] = xy - wz;
@@ -240,17 +240,17 @@ void Matrix34f::makeT(const Vector3f &t) {
}
void Matrix34f::fromQuat(const Quatf &q) {
m[0][0] = 1.0f - (2 * q.y * q.y) - (2.0f * q.z * q.z);
m[0][1] = (2.0f * q.x * q.y) - (2.0f * q.w * q.z);
m[0][2] = (2.0f * q.x * q.z) + (2.0f * q.w * q.y);
m[0][0] = 1.0f - (2 * q.v.y * q.v.y) - (2.0f * q.v.z * q.v.z);
m[0][1] = (2.0f * q.v.x * q.v.y) - (2.0f * q.w * q.v.z);
m[0][2] = (2.0f * q.v.x * q.v.z) + (2.0f * q.w * q.v.y);
m[1][0] = (2.0f * q.x * q.y) + (2.0f * q.w * q.z);
m[1][1] = 1.0f - (2.0f * q.x * q.x) - (2.0f * q.z * q.z);
m[1][2] = (2.0f * q.y * q.z) - (2.0f * q.w * q.x);
m[1][0] = (2.0f * q.v.x * q.v.y) + (2.0f * q.w * q.v.z);
m[1][1] = 1.0f - (2.0f * q.v.x * q.v.x) - (2.0f * q.v.z * q.v.z);
m[1][2] = (2.0f * q.v.y * q.v.z) - (2.0f * q.w * q.v.x);
m[2][0] = (2.0f * q.x * q.z) - (2.0f * q.w * q.y);
m[2][1] = (2.0f * q.y * q.z) + (2.0f * q.w * q.x);
m[2][2] = 1.0f - (2.0f * q.x * q.x) - (2.0f * q.y * q.y);
m[2][0] = (2.0f * q.v.x * q.v.z) - (2.0f * q.w * q.v.y);
m[2][1] = (2.0f * q.v.y * q.v.z) + (2.0f * q.w * q.v.x);
m[2][2] = 1.0f - (2.0f * q.v.x * q.v.x) - (2.0f * q.v.y * q.v.y);
m[2][3] = 0.0f;
m[1][3] = 0.0f;
@@ -298,38 +298,38 @@ void Matrix34f::toQuat(Quatf &q) const {
switch (tempMax) {
case 0:
q.w = Math<f32>::sqrt(temp0);
q.x = (0.25f / q.w) * (m[2][1] - m[1][2]);
q.y = (0.25f / q.w) * (m[0][2] - m[2][0]);
q.z = (0.25f / q.w) * (m[1][0] - m[0][1]);
q.v.x = (0.25f / q.w) * (m[2][1] - m[1][2]);
q.v.y = (0.25f / q.w) * (m[0][2] - m[2][0]);
q.v.z = (0.25f / q.w) * (m[1][0] - m[0][1]);
break;
case 1:
q.x = Math<f32>::sqrt(temp1);
q.w = (0.25f / q.x) * (m[2][1] - m[1][2]);
q.y = (0.25f / q.x) * (m[0][1] + m[1][0]);
q.z = (0.25f / q.x) * (m[0][2] + m[2][0]);
q.v.x = Math<f32>::sqrt(temp1);
q.w = (0.25f / q.v.x) * (m[2][1] - m[1][2]);
q.v.y = (0.25f / q.v.x) * (m[0][1] + m[1][0]);
q.v.z = (0.25f / q.v.x) * (m[0][2] + m[2][0]);
break;
case 2:
q.y = Math<f32>::sqrt(temp2);
q.w = (0.25f / q.y) * (m[0][2] - m[2][0]);
q.z = (0.25f / q.y) * (m[1][2] + m[2][1]);
q.x = (0.25f / q.y) * (m[1][0] + m[0][1]);
q.v.y = Math<f32>::sqrt(temp2);
q.w = (0.25f / q.v.y) * (m[0][2] - m[2][0]);
q.v.z = (0.25f / q.v.y) * (m[1][2] + m[2][1]);
q.v.x = (0.25f / q.v.y) * (m[1][0] + m[0][1]);
break;
case 3:
q.z = Math<f32>::sqrt(temp3);
q.w = (0.25f / q.z) * (m[1][0] - m[0][1]);
q.x = (0.25f / q.z) * (m[2][0] + m[0][2]);
q.y = (0.25f / q.z) * (m[2][1] + m[1][2]);
q.v.z = Math<f32>::sqrt(temp3);
q.w = (0.25f / q.v.z) * (m[1][0] - m[0][1]);
q.v.x = (0.25f / q.v.z) * (m[2][0] + m[0][2]);
q.v.y = (0.25f / q.v.z) * (m[2][1] + m[1][2]);
break;
default: break;
}
if (q.w < 0.0f) {
q.w = -q.w;
q.x = -q.x;
q.y = -q.y;
q.z = -q.z;
q.v.x = -q.v.x;
q.v.y = -q.v.y;
q.v.z = -q.v.z;
}
q.multScalar(Math<f32>::inv(q.length()));
q.multScalar(Math<f32>::inv(Math<f32>::sqrt(q.w * q.w + q.v.dot(q.v))));
}
void Matrix34f::slerpTo(const Matrix34f &m2, Matrix34f &out, f32 t) const {