mirror of
https://github.com/zeldaret/ss
synced 2026-10-08 13:36:24 -04:00
elijah-thomas774
63 lines
1.7 KiB
C++
63 lines
1.7 KiB
C++
#include "m/m_quat.h"
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#include "c/c_math.h"
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#include "common.h"
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#include "egg/math/eggMath.h"
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#include "m/m_vec.h"
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#include "nw4r/math/math_arithmetic.h"
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#include "nw4r/ut/ut_algorithm.h"
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bool mQuat_c::Set(const mVec3_c &from, const mVec3_c &to) {
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mVec3_c cross;
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cross.x = (from.y * to.z) - (from.z * to.y);
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cross.y = (from.z * to.x) - (from.x * to.z);
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cross.z = (from.x * to.y) - (from.y * to.x);
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f32 dot = (from.dot(to) + 1.0f) * 2.0f;
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if (dot < 0.0f) {
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dot = 0.0f;
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}
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f32 f = nw4r::math::FSqrt(dot);
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if (f <= EGG::Math<f32>::epsilon()) {
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return false;
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}
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f32 norm = (1.0f / f);
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set(f * 0.5f, cross.x * norm, cross.y * norm, cross.z * norm);
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return true;
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}
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bool mQuat_c::slerp(const mVec3_c &from, const mVec3_c &to, f32 interp) {
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f32 z = (from.x * to.y) - (from.y * to.x);
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f32 y = (from.z * to.x) - (from.x * to.z);
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f32 x = (from.y * to.z) - (from.z * to.y);
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mVec3_c cross(x, y, z);
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f32 mag = cross.mag();
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if (cM::isZero(mag)) {
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set(1.0f, 0.0f, 0.0f, 0.0f);
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return from.dot(to) > 0.0f;
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}
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cross *= 1.0f / mag;
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setAxisRotation(cross, interp * cM::atan2f(mag, from.dot(to)));
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return true;
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}
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bool mQuat_c::slerpTo(const mVec3_c &from, const mVec3_c &to, f32 maxStep) {
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f32 z = (from.x * to.y) - (from.y * to.x);
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f32 y = (from.z * to.x) - (from.x * to.z);
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f32 x = (from.y * to.z) - (from.z * to.y);
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mVec3_c cross(x, y, z);
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f32 mag = cross.mag();
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if (cM::isZero(mag)) {
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set(1.0f, 0.0f, 0.0f, 0.0f);
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return from.dot(to) > 0.0f;
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}
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cross *= 1.0f / mag;
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setAxisRotation(cross, nw4r::ut::Min(cM::atan2f(mag, from.dot(to)), maxStep));
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return true;
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}
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