Fix Quaternion from Euler and ToMatrix

adrianensis · Sep 24, 2020 · ef1e6ae · ef1e6ae
1 parent 3e67cd3
commit ef1e6ae
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Showing 18 changed files with 20,164 additions and 3,390 deletions.
diff --git a/code/include/Graphics/Renderer.hpp b/code/include/Graphics/Renderer.hpp
@@ -79,11 +79,7 @@ class Renderer: public Component {
 
 	const Animation* getCurrentAnimation() const;
 
-	/**
-	 * Update de material with information about the region, the alphacolor and the animation.
-	 * \param Material material The material.
-	 */
-	void updateAnimation(Material *material);
+	void updateAnimation();
 
 	void setColor(const Vector4 &color);
 	const Array<f32>* getColor() const { return mColor; };
@@ -177,7 +173,7 @@ class Renderer: public Component {
 
 	const Matrix4& getRendererModelMatrix();
 
-	Array<Vector2>* getVertices();
+	const Array<Vector2>* getVertices();
 };
 
 } /* namespace DE */

diff --git a/code/include/Math/Quaternion.hpp b/code/include/Math/Quaternion.hpp
@@ -67,9 +67,9 @@ class Quaternion: public DE_Class /*16 bytes alignment*/{
 	Quaternion& squad(); // TODO: implement
 	void fromEuler(f32 roll, f32 pitch, f32 yaw);
 	void fromEuler(const Vector3 &v);
-	Vector3 toEuler() const;
+	//Vector3 toEuler() const;
 	void toMatrix(Matrix4 *outMatrix) const;
-	void fromMatrix(const Matrix4 &m);
+	//void fromMatrix(const Matrix4 &m);
 
 	//-------------------------------------------------------------------
 	// OPERATORS

diff --git a/code/include/Test/Test.hpp b/code/include/Test/Test.hpp
@@ -30,7 +30,7 @@ using namespace DE;
 #define DE_test_expected_float(x,exp) DE_test_expected_any(__test__float,x,exp)
 #define DE_test_expected_sint(x,exp) DE_test_expected_any(__test__sint,x,exp)
 #define DE_test_expected_uint(x,exp) DE_test_expected_any(__test__uint,x,exp)
-#define DE_test_expected_float_eps(x,exp,eps) DE_test_tick(); __test__float_precision = (x); DE_test_tock(); __test__total++; __test__b = ( std::max(0.0f,fabsf(__test__float_precision)-fabsf(exp)) < fabsf(eps)); if (__test__b){ __test__ok++; } __test__output  << (__test__b ? "[ OK ]" : "[ FAIL ]") << "\t" << #x << std::endl << "\t" << "result: " << __PRECISION << __test__float << std::endl << "\t" << "DE_test_expected: " << __PRECISION << (exp) << std::endl << "\t" << "epsilon: " << __PRECISION << (eps) << std::endl << std::endl
+#define DE_test_expected_float_eps(x,exp,eps) DE_test_tick(); __test__float_precision = (x); DE_test_tock(); __test__total++; __test__b = ( std::max(0.0f,fabsf(fabsf(__test__float_precision)-fabsf(exp))) < fabsf(eps)); if (__test__b){ __test__ok++; } __test__output  << (__test__b ? "[ OK ]" : "[ FAIL ]") << "\t" << #x << std::endl << "\t" << "result: " << __PRECISION << __test__float_precision << std::endl << "\t" << "DE_test_expected: " << __PRECISION << (exp) << std::endl << "\t" << "epsilon: " << __PRECISION << (eps) << std::endl << std::endl
 #define DE_test_expected(x,exp) DE_test_expected_any(__test__any,x,exp)
 
 #define summary() __test__output << std::endl << std::setprecision(4) << (isnan(__test__totaltime) ? 0 : __test__totaltime) << "ms " << __test__ok << " " <<(__test__total-__test__ok) << std::endl; std::cout << __test__output.str();

diff --git a/code/source/Graphics/Batch.cpp b/code/source/Graphics/Batch.cpp
@@ -282,10 +282,9 @@ u32 Batch::render(u32 layer) {
 
 							shader->addBool(renderer->isAffectedByProjection(), "isAffectedByProjection");
 
-							renderer->updateAnimation(mMaterial);
-
 							bool lineMode = it.get()->isLineMode();
 
+							renderer->updateAnimation();
 							addToVertexBuffer(renderer);
 
 							drawCallCounter++;
@@ -443,8 +442,7 @@ void Batch::addToVertexBuffer(Renderer* renderer) {
 
 	Transform* t = renderer->getGameObject()->getTransform();
 
-
-	Array<Vector2>* vertexPositions = renderer->getVertices();
+	const Array<Vector2>* vertexPositions = renderer->getVertices();
 
 	FOR_RANGE(i,0,mVerticesPerMesh) {
 

diff --git a/code/source/Graphics/Chunk.cpp b/code/source/Graphics/Chunk.cpp
@@ -115,10 +115,10 @@ void Chunk::set(const Vector3 &leftTop, f32 size) {
 
 void Chunk::update(BatchesMap *batchesMap) {
 
-	// RenderEngine::getInstance()->drawLine(Vector3(mLeftTop.x, mLeftTop.y,0), Vector3(mLeftTop.x, mLeftTop.y - mSize,0));
-	// RenderEngine::getInstance()->drawLine(Vector3(mLeftTop.x, mLeftTop.y - mSize,0), Vector3(mLeftTop.x + mSize, mLeftTop.y - mSize,0));
-	// RenderEngine::getInstance()->drawLine(Vector3(mLeftTop.x + mSize, mLeftTop.y - mSize,0), Vector3(mLeftTop.x + mSize, mLeftTop.y,0));
-	// RenderEngine::getInstance()->drawLine(Vector3(mLeftTop.x + mSize, mLeftTop.y,0), Vector3(mLeftTop.x, mLeftTop.y,0));
+//	 RenderEngine::getInstance()->drawLine(Vector3(mLeftTop.x, mLeftTop.y,0), Vector3(mLeftTop.x, mLeftTop.y - mSize,0));
+//	 RenderEngine::getInstance()->drawLine(Vector3(mLeftTop.x, mLeftTop.y - mSize,0), Vector3(mLeftTop.x + mSize, mLeftTop.y - mSize,0));
+//	 RenderEngine::getInstance()->drawLine(Vector3(mLeftTop.x + mSize, mLeftTop.y - mSize,0), Vector3(mLeftTop.x + mSize, mLeftTop.y,0));
+//	 RenderEngine::getInstance()->drawLine(Vector3(mLeftTop.x + mSize, mLeftTop.y,0), Vector3(mLeftTop.x, mLeftTop.y,0));
 
 	FOR_LIST(it, mRenderers) {
 		Renderer* renderer = it.get();

diff --git a/code/source/Graphics/Renderer.cpp b/code/source/Graphics/Renderer.cpp
@@ -128,11 +128,8 @@ void Renderer::addAnimation(const std::string &name, Animation *animation) {
 
 // ---------------------------------------------------------------------------
 
-void Renderer::updateAnimation(Material *material) {
+void Renderer::updateAnimation() {
 	if (mMaterial) {
-
-		Shader* shader = mMaterial->getShader();
-
 		if (hasAnimations()) {
 			const AnimationFrame* frame = mCurrentAnimation->getNextFrame();
 			mRegionPosition = frame->getPosition();
@@ -212,7 +209,7 @@ const Matrix4& Renderer::getRendererModelMatrix() {
 	return mRenderereModelMatrix;
 };
 
-Array<Vector2>* Renderer::getVertices() {
+const Array<Vector2>* Renderer::getVertices() {
 
 	if(mPositionOffsetDirty || !isStatic()){
 		FOR_ARRAY(i, mVertices) {

diff --git a/code/source/Math/Matrix4.cpp b/code/source/Math/Matrix4.cpp
@@ -2,6 +2,7 @@
 #include "MathUtils.hpp"
 #include "Vector4.hpp"
 #include "Vector3.hpp"
+#include "Quaternion.hpp"
 #include "Array.hpp"
 
 #include <cstring>
@@ -275,7 +276,10 @@ void Matrix4::translation(const Vector3 &vector) {
 
 void Matrix4::rotation(const Vector3 &vector) {
 
-	this->identity();
+	Quaternion q(vector);
+	q.toMatrix(this);
+
+	/*this->identity();
 
 	f32 radians, cos, sin;
 
@@ -303,7 +307,7 @@ void Matrix4::rotation(const Vector3 &vector) {
 		this->set(0, 1, -sin);
 		this->set(1, 0, sin);
 		this->set(1, 1, cos);
-	}
+	}*/
 
 };
 

diff --git a/code/source/Math/Quaternion.cpp b/code/source/Math/Quaternion.cpp
@@ -177,30 +177,29 @@ Quaternion& Quaternion::slerp(const Quaternion &target, f32 t) {
 	return *this;
 }
 
-void Quaternion::fromEuler(f32 roll, f32 pitch, f32 yaw) {
+void Quaternion::fromEuler(f32 roll, f32 pitch, f32 yaw) { // pitch attitude, yaw heading, or roll bank
 
 	// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
 
 	f32 roll2 = MathUtils::rad(roll) * 0.5f; // x
 	f32 pitch2 = MathUtils::rad(pitch) * 0.5f; // y
 	f32 yaw2 = MathUtils::rad(yaw) * 0.5f; // z
 
-	f32 c3 = cosf(yaw2);
-	f32 c2 = cosf(pitch2);
-	f32 c1 = cosf(roll2);
-
-	f32 s3 = sinf(yaw2);
-	f32 s2 = sinf(pitch2);
-	f32 s1 = sinf(roll2);
+	f32 cy = cos(yaw2);
+	f32 sy = sin(yaw2);
+	f32 cp = cos(pitch2);
+	f32 sp = sin(pitch2);
+	f32 cr = cos(roll2);
+	f32 sr = sin(roll2);
 
 	// original
-	// w   = c3*c2*c1 + s3*s2*s1;
-	// v.x = c3*c2*s1 - s3*s2*c1;
-	// v.y = c3*s2*c1 + s3*c2*s1;
-	// v.z = s3*c2*c1 - c3*s2*s1;
+	w = cr * cp * cy + sr * sp * sy;
+	v.x = sr * cp * cy - cr * sp * sy;
+	v.y = cr * sp * cy + sr * cp * sy;
+	v.z = cr * cp * sy - sr * sp * cy;
 
 	// SIMD-optimized
-	f32 c3c2 = c3 * c2;
+	/*f32 c3c2 = c3 * c2;
 	f32 s3s2 = s3 * s2;
 	f32 c3s2 = c3 * s2;
 	f32 s3c2 = s3 * c2;
@@ -213,19 +212,19 @@ void Quaternion::fromEuler(f32 roll, f32 pitch, f32 yaw) {
 	f32 aux4 = s3s2 * s1;
 	f32 aux5 = s3s2 * c1;
 	f32 aux6 = s3c2 * s1;
-	f32 aux7 = c3s2 * s1;
+	f32 aux7 = c3s2 * s1;*/
 
-	w = aux0 + aux4;
+	/*w = aux0 + aux4;
 	v.x = aux1 - aux5;
 	v.y = aux2 + aux6;
-	v.z = aux3 - aux7;
+	v.z = aux3 - aux7;*/
 }
 
 void Quaternion::fromEuler(const Vector3 &v) {
 	fromEuler(v.x, v.y, v.z);
 }
 
-Vector3 Quaternion::toEuler() const {
+/*Vector3 Quaternion::toEuler() const {
 
 	// https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
 
@@ -256,9 +255,9 @@ Vector3 Quaternion::toEuler() const {
 	f32 yaw = atan2f(t3, t4);
 
 	return Vector3(MathUtils::deg(roll), MathUtils::deg(pitch), MathUtils::deg(yaw));
-}
+}*/
 
-void Quaternion::fromMatrix(const Matrix4 &m) {
+/*void Quaternion::fromMatrix(const Matrix4 &m) {
 
 	// https://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
 
@@ -303,35 +302,38 @@ void Quaternion::fromMatrix(const Matrix4 &m) {
 
 	}
 
-}
+}*/
 
 void Quaternion::toMatrix(Matrix4 *outMatrix) const {
 
-	f32 xx2 = 2 * v.x * v.x;
-	f32 yy2 = 2 * v.y * v.y;
-	f32 zz2 = 2 * v.z * v.z;
+	Quaternion copy((*this));
+	copy.nor();
+
+	f32 xx2 = 2 * copy.v.x * copy.v.x;
+	f32 yy2 = 2 * copy.v.y * copy.v.y;
+	f32 zz2 = 2 * copy.v.z * copy.v.z;
 
-	f32 xy2 = 2 * v.x * v.y;
-	f32 xz2 = 2 * v.x * v.z;
-	f32 yz2 = 2 * v.y * v.z;
+	f32 xy2 = 2 * copy.v.x * copy.v.y;
+	f32 xz2 = 2 * copy.v.x * copy.v.z;
+	f32 yz2 = 2 * copy.v.y * copy.v.z;
 
-	f32 wx2 = 2 * w * v.x;
-	f32 wy2 = 2 * w * v.y;
-	f32 wz2 = 2 * w * v.z;
+	f32 wx2 = 2 * copy.w * copy.v.x;
+	f32 wy2 = 2 * copy.w * copy.v.y;
+	f32 wz2 = 2 * copy.w * copy.v.z;
 
 	outMatrix->identity();
 
-	outMatrix->set(0, 0, 1 - yy2 - zz2);
-	outMatrix->set(0, 1, xy2 + wz2);
-	outMatrix->set(0, 2, xz2 - wy2);
+	outMatrix->set(0, 0, 1 - (yy2 + zz2));
+	outMatrix->set(0, 1, xy2 - wz2);
+	outMatrix->set(0, 2, xz2 + wy2);
 
-	outMatrix->set(1, 0, xy2 - wz2);
-	outMatrix->set(1, 1, 1 - xx2 - zz2);
-	outMatrix->set(1, 2, yz2 + wx2);
+	outMatrix->set(1, 0, xy2 + wz2);
+	outMatrix->set(1, 1, 1 - (xx2 + zz2));
+	outMatrix->set(1, 2, yz2 - wx2);
 
-	outMatrix->set(2, 0, xz2 + wy2);
-	outMatrix->set(2, 1, yz2 - wx2);
-	outMatrix->set(2, 2, 1 - xx2 - yy2);
+	outMatrix->set(2, 0, xz2 - wy2);
+	outMatrix->set(2, 1, yz2 + wx2);
+	outMatrix->set(2, 2, 1 - (xx2 + yy2));
 
 }
 

diff --git a/code/source/Scene/Transform.cpp b/code/source/Scene/Transform.cpp
@@ -102,7 +102,7 @@ void Transform::rotate(const Vector3 &vector) {
 
 void Transform::lookAt(const Vector3 &targetPosition) {
 
-	mIsDirtyRotation = true;
+	/*mIsDirtyRotation = true;
 
 	Vector3 target(targetPosition);
 
@@ -120,7 +120,7 @@ void Transform::lookAt(const Vector3 &targetPosition) {
 
 	q.fromMatrix(lookAtMatrix);
 
-	mRotation = q.toEuler();
+	mRotation = q.toEuler();*/
 }
 
 // ---------------------------------------------------------------------------

diff --git a/config/engine.conf b/config/engine.conf
@@ -5,6 +5,6 @@ scene.maxNewObjectsToSpawn=20
 scene.sortByYCoordinate=true
 line.renderers.count=1000
 scene.maxLayers=10
-#scenes.length=0
-scenes.length=1
-scenes[0]=config/sceneTmp.conf
+scenes.length=0
+#scenes.length=1
+#scenes[0]=config/sceneTmp.conf