mirror of https://github.com/raysan5/raylib
fix QuaternionFromMatrix & QuaternionEquals (#2591)
Co-authored-by: kirigiri hitomi <chenjw@hiscene.com>
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@ -1802,30 +1802,60 @@ RMAPI Quaternion QuaternionFromMatrix(Matrix mat)
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{
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Quaternion result = { 0 };
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if ((mat.m0 > mat.m5) && (mat.m0 > mat.m10))
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{
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float s = sqrtf(1.0f + mat.m0 - mat.m5 - mat.m10)*2;
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float fourWSquaredMinus1 = mat.m0 + mat.m5 + mat.m10;
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float fourXSquaredMinus1 = mat.m0 - mat.m5 - mat.m10;
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float fourYSquaredMinus1 = mat.m5 - mat.m0 - mat.m10;
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float fourZSquaredMinus1 = mat.m10 - mat.m0 - mat.m5;
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result.x = 0.25f*s;
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result.y = (mat.m4 + mat.m1)/s;
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result.z = (mat.m2 + mat.m8)/s;
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result.w = (mat.m9 - mat.m6)/s;
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}
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else if (mat.m5 > mat.m10)
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int biggestIndex = 0;
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float fourBiggestSquaredMinus1 = fourWSquaredMinus1;
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if (fourXSquaredMinus1 > fourBiggestSquaredMinus1)
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{
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float s = sqrtf(1.0f + mat.m5 - mat.m0 - mat.m10)*2;
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result.x = (mat.m4 + mat.m1)/s;
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result.y = 0.25f*s;
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result.z = (mat.m9 + mat.m6)/s;
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result.w = (mat.m2 - mat.m8)/s;
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fourBiggestSquaredMinus1 = fourXSquaredMinus1;
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biggestIndex = 1;
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}
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else
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if (fourYSquaredMinus1 > fourBiggestSquaredMinus1)
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{
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float s = sqrtf(1.0f + mat.m10 - mat.m0 - mat.m5)*2;
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result.x = (mat.m2 + mat.m8)/s;
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result.y = (mat.m9 + mat.m6)/s;
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result.z = 0.25f*s;
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result.w = (mat.m4 - mat.m1)/s;
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fourBiggestSquaredMinus1 = fourYSquaredMinus1;
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biggestIndex = 2;
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}
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if (fourZSquaredMinus1 > fourBiggestSquaredMinus1)
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{
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fourBiggestSquaredMinus1 = fourZSquaredMinus1;
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biggestIndex = 3;
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}
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float biggestVal = sqrtf(fourBiggestSquaredMinus1 + 1.0f) * 0.5f;
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float mult = 0.25f / biggestVal;
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switch (biggestIndex)
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{
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case 0:
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result.w = biggestVal;
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result.x = (mat.m6 - mat.m9) * mult;
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result.y = (mat.m8 - mat.m2) * mult;
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result.z = (mat.m1 - mat.m4) * mult;
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break;
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case 1:
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result.x = biggestVal;
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result.w = (mat.m6 - mat.m9) * mult;
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result.y = (mat.m1 + mat.m4) * mult;
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result.z = (mat.m8 + mat.m2) * mult;
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break;
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case 2:
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result.y = biggestVal;
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result.w = (mat.m8 - mat.m2) * mult;
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result.x = (mat.m1 + mat.m4) * mult;
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result.z = (mat.m6 + mat.m9) * mult;
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break;
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case 3:
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result.z = biggestVal;
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result.w = (mat.m1 - mat.m4) * mult;
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result.x = (mat.m8 + mat.m2) * mult;
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result.y = (mat.m6 + mat.m9) * mult;
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break;
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}
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return result;
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@ -2009,10 +2039,14 @@ RMAPI Quaternion QuaternionTransform(Quaternion q, Matrix mat)
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// Check whether two given quaternions are almost equal
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RMAPI int QuaternionEquals(Quaternion p, Quaternion q)
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{
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int result = ((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
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int result = (((fabsf(p.x - q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
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((fabsf(p.y - q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
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((fabsf(p.z - q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
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((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))));
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((fabsf(p.w - q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w)))))) ||
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(((fabsf(p.x + q.x)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.x), fabsf(q.x))))) &&
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((fabsf(p.y + q.y)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.y), fabsf(q.y))))) &&
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((fabsf(p.z + q.z)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.z), fabsf(q.z))))) &&
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((fabsf(p.w + q.w)) <= (EPSILON*fmaxf(1.0f, fmaxf(fabsf(p.w), fabsf(q.w))))));
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return result;
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}
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