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[Hgengine-cvs] SF.net SVN: hgengine:[302] Mercury2/src
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From: <axl...@us...> - 2009-06-04 00:11:32
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Revision: 302
http://hgengine.svn.sourceforge.net/hgengine/?rev=302&view=rev
Author: axlecrusher
Date: 2009-06-04 00:11:19 +0000 (Thu, 04 Jun 2009)
Log Message:
-----------
updates, trying to fix broken rotations
Modified Paths:
--------------
Mercury2/src/Camera.cpp
Mercury2/src/MQuaternion.cpp
Mercury2/src/MQuaternion.h
Mercury2/src/MercuryMatrix.cpp
Mercury2/src/TransformNode.cpp
Modified: Mercury2/src/Camera.cpp
===================================================================
--- Mercury2/src/Camera.cpp 2009-06-03 01:22:25 UTC (rev 301)
+++ Mercury2/src/Camera.cpp 2009-06-04 00:11:19 UTC (rev 302)
@@ -26,7 +26,7 @@
m_lookAt.NormalizeSelf();
LOOKAT = m_lookAt;
- r[MQuaternion::W] *= -1; //reverse angle for camera
+ r.W() *= -1; //reverse angle for camera
//rotate then translate since we are a camera
r.toMatrix4( local );
Modified: Mercury2/src/MQuaternion.cpp
===================================================================
--- Mercury2/src/MQuaternion.cpp 2009-06-03 01:22:25 UTC (rev 301)
+++ Mercury2/src/MQuaternion.cpp 2009-06-04 00:11:19 UTC (rev 302)
@@ -61,11 +61,15 @@
void MQuaternion::FromAxisAngle(const MercuryVertex& p, const float radians)
{
+ MercuryVertex v( p.Normalize() );
+
float sn = SIN(radians/2.0f);
m_wxyz[0] = COS(radians/2.0f);
m_wxyz[1] = sn * p[0];
m_wxyz[2] = sn * p[1];
m_wxyz[3] = sn * p[2];
+
+ *this = this->normalize();
}
void MQuaternion::ToAxisAngle(float& angle, float& x, float& y, float& z) const
@@ -115,28 +119,33 @@
//Converts MQuaternion to 4x4 Matrix(3x3 Spatial)
void MQuaternion::toMatrix( MercuryMatrix &matrix ) const {
- float X = 2*m_wxyz[1]*m_wxyz[1]; //Reduced calulation for speed
- float Y = 2*m_wxyz[2]*m_wxyz[2];
- float Z = 2*m_wxyz[3]*m_wxyz[3];
- float a = 2*m_wxyz[0]*m_wxyz[1];
- float b = 2*m_wxyz[0]*m_wxyz[2];
- float c = 2*m_wxyz[0]*m_wxyz[3];
- float d = 2*m_wxyz[1]*m_wxyz[2];
- float e = 2*m_wxyz[1]*m_wxyz[3];
- float f = 2*m_wxyz[2]*m_wxyz[3];
+ MQuaternion q( this->normalize() );
+
+ //Reduced calulation for speed
+ float xx = 2*q.X()*q.X();
+ float xy = 2*q.X()*q.Y();
+ float xz = 2*q.X()*q.Z();
+ float xw = 2*q.X()*q.W();
+
+ float yy = 2*q.Y()*q.Y();
+ float yz = 2*q.Y()*q.Z();
+ float yw = 2*q.Y()*q.W();
+
+ float zz = 2*q.Z()*q.Z();
+ float zw = 2*q.Z()*q.W();
//row major
- matrix[0][0] = 1-Y-Z;
- matrix[0][1] = d-c;
- matrix[0][2] = e+b;
+ matrix[0][0] = 1-yy-zz;
+ matrix[0][1] = xy-zw;
+ matrix[0][2] = xz+yw;
- matrix[1][0] = d+c;
- matrix[1][1] = 1-X-Z;
- matrix[1][2] = f-a;
+ matrix[1][0] = xy+zw;
+ matrix[1][1] = 1-xx-zz;
+ matrix[1][2] = yz-xw;
- matrix[2][0] = e-b;
- matrix[2][1] = f+a;
- matrix[2][2] = 1-X-Y;
+ matrix[2][0] = xz-yw;
+ matrix[2][1] = yz+xw;
+ matrix[2][2] = 1-xx-yy;
}
void MQuaternion::toMatrix4( MercuryMatrix &matrix ) const {
Modified: Mercury2/src/MQuaternion.h
===================================================================
--- Mercury2/src/MQuaternion.h 2009-06-03 01:22:25 UTC (rev 301)
+++ Mercury2/src/MQuaternion.h 2009-06-04 00:11:19 UTC (rev 302)
@@ -9,7 +9,7 @@
///Mathematical Quaternion (Used for Rotation)
class MQuaternion {
public:
- enum WXYZ { W = 0, X, Y, Z };
+ enum WXYZ { QW = 0, QX, QY, QZ };
//Defines a Quaternion such that q = w + xi + yj + zk
MQuaternion();
@@ -67,6 +67,11 @@
void Print(const MString& s = "MQuaternion") const;
+ inline float& W() { return m_wxyz[0]; }
+ inline float& X() { return m_wxyz[1]; }
+ inline float& Y() { return m_wxyz[2]; }
+ inline float& Z() { return m_wxyz[3]; }
+
// private:
FloatRow m_wxyz;
} M_ALIGN(32);
Modified: Mercury2/src/MercuryMatrix.cpp
===================================================================
--- Mercury2/src/MercuryMatrix.cpp 2009-06-03 01:22:25 UTC (rev 301)
+++ Mercury2/src/MercuryMatrix.cpp 2009-06-04 00:11:19 UTC (rev 302)
@@ -123,7 +123,7 @@
void MercuryMatrix::Rotate(const MQuaternion& q)
{
MercuryMatrix m;
- q.normalize().toMatrix4( m );
+ q.toMatrix4( m );
*this *= m;
}
Modified: Mercury2/src/TransformNode.cpp
===================================================================
--- Mercury2/src/TransformNode.cpp 2009-06-03 01:22:25 UTC (rev 301)
+++ Mercury2/src/TransformNode.cpp 2009-06-04 00:11:19 UTC (rev 302)
@@ -104,13 +104,13 @@
//only change the values that exist in the XML
if ( !node.Attribute("rotx").empty() )
- rot *= MQuaternion::CreateFromAxisAngle(MercuryVector(1,0,0), StrToFloat( node.Attribute("rotx") ));
+ rot *= MQuaternion::CreateFromAxisAngle(MercuryVector(1,0,0), StrToFloat( node.Attribute("rotx") )*DEGRAD );
if ( !node.Attribute("roty").empty() )
- rot *= MQuaternion::CreateFromAxisAngle(MercuryVector(0,1,0), StrToFloat( node.Attribute("roty") ));
+ rot *= MQuaternion::CreateFromAxisAngle(MercuryVector(0,1,0), StrToFloat( node.Attribute("roty") )*DEGRAD );
if ( !node.Attribute("rotz").empty() )
- rot *= MQuaternion::CreateFromAxisAngle(MercuryVector(0,0,1), StrToFloat( node.Attribute("rotz") ));
+ rot *= MQuaternion::CreateFromAxisAngle(MercuryVector(0,0,1), StrToFloat( node.Attribute("rotz") )*DEGRAD );
if ( !node.Attribute("scalex").empty() )
scale.SetX( StrToFloat( node.Attribute("scalex") ) );
@@ -157,8 +157,8 @@
void RotatorNode::Update(float dTime)
{
MQuaternion r = GetRotation();
- r[MQuaternion::X] += (dTime)*25;
- r[MQuaternion::Y] += (dTime)*75;
+ r.X() += (dTime)*25;
+ r.Y() += (dTime)*75;
SetRotation( r );
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