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work on quat and matrix math - deleted multiple copies of raymath.h causing issues (#1359)

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Co-authored-by: codifies <nospam@antispam.com>
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chriscamacho 2020-08-23 20:01:26 +01:00 committed by GitHub
parent 816856eb75
commit d140dc81c0
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6 changed files with 190 additions and 4492 deletions
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8
examples/Makefile
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@ -267,7 +267,8 @@ ifeq ($(PLATFORM),PLATFORM_DESKTOP)
ifeq ($(PLATFORM_OS),LINUX)
# Reset everything.
# Precedence: immediately local, installed version, raysan5 provided libs -I$(RAYLIB_H_INSTALL_PATH) -I$(RAYLIB_PATH)/release/include
INCLUDE_PATHS = -I$(RAYLIB_H_INSTALL_PATH) -isystem. -isystem$(RAYLIB_PATH)/src -isystem$(RAYLIB_PATH)/release/include -isystem$(RAYLIB_PATH)/src/external
#INCLUDE_PATHS = -I$(RAYLIB_H_INSTALL_PATH) -isystem. -isystem$(RAYLIB_PATH)/src -isystem$(RAYLIB_PATH)/release/include -isystem$(RAYLIB_PATH)/src/external
INCLUDE_PATHS = -I$(RAYLIB_H_INSTALL_PATH) -I. -I$(RAYLIB_PATH)/src -I$(RAYLIB_PATH)/release/include -I$(RAYLIB_PATH)/src/external
endif
endif
@ -290,7 +291,7 @@ ifeq ($(PLATFORM),PLATFORM_DESKTOP)
ifeq ($(PLATFORM_OS),LINUX)
# Reset everything.
# Precedence: immediately local, installed version, raysan5 provided libs
LDFLAGS = -L. -L$(RAYLIB_INSTALL_PATH) -L$(RAYLIB_RELEASE_PATH)
LDFLAGS = -L. -L$(RAYLIB_INSTALL_PATH) -L$(RAYLIB_RELEASE_PATH) -L$(RAYLIB_PATH)
endif
endif
@ -378,7 +379,8 @@ CORE = \
core/core_scissor_test \
core/core_storage_values \
core/core_vr_simulator \
core/core_loading_thread
core/core_loading_thread \
core/core_quat_conversion
SHAPES = \
shapes/shapes_basic_shapes \

131
examples/core/core_quat_conversion.c Normal file
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@ -0,0 +1,131 @@
/*******************************************************************************************
*
* raylib [core] example - quat conversions
*
* Welcome to raylib!
*
* generally you should really stick to eulers OR quats...
* This tests that various conversions are equivilant.
*
* You can find all basic examples on [C:\raylib\raylib\examples] directory and
* raylib official webpage: [www.raylib.com]
*
* Enjoy using raylib. :)
*
* This example has been created using raylib 1.0 (www.raylib.com)
* raylib is licensed under an unmodified zlib/libpng license (View raylib.h for details)
*
* Copyright (c) 2013-2020 Ramon Santamaria (@raysan5)
*
********************************************************************************************/
#include "raylib.h"
#include "raymath.h"
#ifndef PI2
#define PI2 PI*2
#endif
int main(void)
{
// Initialization
//--------------------------------------------------------------------------------------
const int screenWidth = 800;
const int screenHeight = 450;
InitWindow(screenWidth, screenHeight, "raylib [core] example - quat conversions");
Camera3D camera = { 0 };
camera.position = (Vector3){ 0.0f, 10.0f, 10.0f }; // Camera position
camera.target = (Vector3){ 0.0f, 0.0f, 0.0f }; // Camera looking at point
camera.up = (Vector3){ 0.0f, 1.0f, 0.0f }; // Camera up vector (rotation towards target)
camera.fovy = 45.0f; // Camera field-of-view Y
camera.type = CAMERA_PERSPECTIVE; // Camera mode type
Mesh msh = GenMeshCylinder(.2, 1, 32);
Model mod = LoadModelFromMesh(msh);
SetTargetFPS(60); // Set our game to run at 60 frames-per-second
//--------------------------------------------------------------------------------------
Quaternion q1;
Matrix m1,m2,m3,m4;
Vector3 v1,v2;
// Main game loop
while (!WindowShouldClose()) // Detect window close button or ESC key
{
// Update
if (!IsKeyDown(KEY_SPACE)) {
v1.x += 0.01;
v1.y += 0.03;
v1.z += 0.05;
}
if (v1.x > PI2) v1.x-=PI2;
if (v1.y > PI2) v1.y-=PI2;
if (v1.z > PI2) v1.z-=PI2;
q1 = QuaternionFromEuler(v1.x, v1.y, v1.z);
m1 = MatrixRotateZYX(v1);
m2 = QuaternionToMatrix(q1);
q1 = QuaternionFromMatrix(m1);
m3 = QuaternionToMatrix(q1);
v2 = QuaternionToEuler(q1);
v2.x*=DEG2RAD; v2.y*=DEG2RAD; v2.z*=DEG2RAD;
m4 = MatrixRotateZYX(v2);
// Draw
//----------------------------------------------------------------------------------
BeginDrawing();
ClearBackground(RAYWHITE);
BeginMode3D(camera);
mod.transform = m1;
DrawModel(mod, (Vector3){-1,0,0},1.0,RED);
mod.transform = m2;
DrawModel(mod, (Vector3){1,0,0},1.0,RED);
mod.transform = m3;
DrawModel(mod, (Vector3){0,0,0},1.0,RED);
mod.transform = m4;
DrawModel(mod, (Vector3){0,0,-1},1.0,RED);
DrawGrid(10, 1.0f);
EndMode3D();
if (v2.x<0) v2.x+=PI2;
if (v2.y<0) v2.y+=PI2;
if (v2.z<0) v2.z+=PI2;
Color cx,cy,cz;
cx=cy=cz=BLACK;
if (v1.x == v2.x) cx = GREEN;
if (v1.y == v2.y) cy = GREEN;
if (v1.z == v2.z) cz = GREEN;
DrawText(TextFormat("%2.3f",v1.x),20,20,20,cx);
DrawText(TextFormat("%2.3f",v1.y),20,40,20,cy);
DrawText(TextFormat("%2.3f",v1.z),20,60,20,cz);
DrawText(TextFormat("%2.3f",v2.x),200,20,20,cx);
DrawText(TextFormat("%2.3f",v2.y),200,40,20,cy);
DrawText(TextFormat("%2.3f",v2.z),200,60,20,cz);
EndDrawing();
//----------------------------------------------------------------------------------
}
// De-Initialization
//--------------------------------------------------------------------------------------
CloseWindow(); // Close window and OpenGL context
//--------------------------------------------------------------------------------------
return 0;
}

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examples/core/raymath.h
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examples/models/raymath.h
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1466
examples/shaders/raymath.h
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145
src/raymath.h
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@ -78,6 +78,8 @@
#define PI 3.14159265358979323846
#endif
#ifndef DEG2RAD
#define DEG2RAD (PI/180.0f)
#endif
@ -926,6 +928,8 @@ RMDEF Matrix MatrixRotateZ(float angle)
return result;
}
// Returns scaling matrix
RMDEF Matrix MatrixScale(float x, float y, float z)
{
@ -963,6 +967,17 @@ RMDEF Matrix MatrixMultiply(Matrix left, Matrix right)
return result;
}
// TODO suboptimal should be able to create this matrix in one go
// this is an aditional 3 matrix multiplies!
RMDEF Matrix MatrixRotateZYX(Vector3 v)
{
Matrix result = MatrixRotateZ(v.z);
result = MatrixMultiply(result, MatrixRotateY(v.y));
result = MatrixMultiply(result, MatrixRotateX(v.x));
return result;
}
// Returns perspective projection matrix
RMDEF Matrix MatrixFrustum(double left, double right, double bottom, double top, double near, double far)
{
@ -1297,105 +1312,53 @@ RMDEF Quaternion QuaternionFromVector3ToVector3(Vector3 from, Vector3 to)
}
// Returns a quaternion for a given rotation matrix
RMDEF Quaternion QuaternionFromMatrix(Matrix mat)
RMDEF Quaternion QuaternionFromMatrix(Matrix m)
{
Quaternion result = { 0 };
float trace = MatrixTrace(mat);
if (trace > 0.0f)
{
float s = sqrtf(trace + 1)*2.0f;
float invS = 1.0f/s;
result.w = s*0.25f;
result.x = (mat.m6 - mat.m9)*invS;
result.y = (mat.m8 - mat.m2)*invS;
result.z = (mat.m1 - mat.m4)*invS;
}
else
{
float m00 = mat.m0, m11 = mat.m5, m22 = mat.m10;
if (m00 > m11 && m00 > m22)
{
float s = (float)sqrt(1.0f + m00 - m11 - m22)*2.0f;
float invS = 1.0f/s;
result.w = (mat.m6 - mat.m9)*invS;
result.x = s*0.25f;
result.y = (mat.m4 + mat.m1)*invS;
result.z = (mat.m8 + mat.m2)*invS;
}
else if (m11 > m22)
{
float s = sqrtf(1.0f + m11 - m00 - m22)*2.0f;
float invS = 1.0f/s;
result.w = (mat.m8 - mat.m2)*invS;
result.x = (mat.m4 + mat.m1)*invS;
result.y = s*0.25f;
result.z = (mat.m9 + mat.m6)*invS;
}
else
{
float s = sqrtf(1.0f + m22 - m00 - m11)*2.0f;
float invS = 1.0f/s;
result.w = (mat.m1 - mat.m4)*invS;
result.x = (mat.m8 + mat.m2)*invS;
result.y = (mat.m9 + mat.m6)*invS;
result.z = s*0.25f;
}
}
return result;
Quaternion q;
if ( m.m0 > m.m5 && m.m0 > m.m10 ) {
float s = sqrt( 1.0 + m.m0 - m.m5 - m.m10 ) * 2;
q.x = 0.25 * s;
q.y = (m.m4 + m.m1 ) / s;
q.z = (m.m2 + m.m8 ) / s;
q.w = (m.m9 - m.m6 ) / s;
} else if ( m.m5 > m.m10 ) {
float s = sqrt( 1.0 + m.m5 - m.m0 - m.m10 ) * 2;
q.x = (m.m4 + m.m1 ) / s;
q.y = 0.25 * s;
q.z = (m.m9 + m.m6 ) / s;
q.w = (m.m2 - m.m8 ) / s;
} else {
float s = sqrt( 1.0 + m.m10 - m.m0 - m.m5 ) * 2;
q.x = (m.m2 + m.m8 ) / s;
q.y = (m.m9 + m.m6 ) / s;
q.z = 0.25 * s;
q.w = (m.m4 - m.m1 ) / s;
}
return q;
}
// Returns a matrix for a given quaternion
RMDEF Matrix QuaternionToMatrix(Quaternion q)
{
Matrix result = { 0 };
Matrix m = MatrixIdentity();
float a2=2*(q.x*q.x), b2=2*(q.y*q.y), c2=2*(q.z*q.z); //, d2=2*(q.w*q.w);
float ab=2*(q.x*q.y), ac=2*(q.x*q.z), bc=2*(q.y*q.z);
float ad=2*(q.x*q.w), bd=2*(q.y*q.w), cd=2*(q.z*q.w);
float x = q.x, y = q.y, z = q.z, w = q.w;
m.m0 = 1 - b2 - c2;
m.m1 = ab - cd;
m.m2 = ac + bd;
m.m4 = ab + cd;
m.m5 = 1 - a2 - c2;
m.m6 = bc - ad;
m.m8 = ac - bd;
m.m9 = bc + ad;
m.m10 = 1 - a2 - b2;
float x2 = x + x;
float y2 = y + y;
float z2 = z + z;
float length = QuaternionLength(q);
float lengthSquared = length*length;
float xx = x*x2/lengthSquared;
float xy = x*y2/lengthSquared;
float xz = x*z2/lengthSquared;
float yy = y*y2/lengthSquared;
float yz = y*z2/lengthSquared;
float zz = z*z2/lengthSquared;
float wx = w*x2/lengthSquared;
float wy = w*y2/lengthSquared;
float wz = w*z2/lengthSquared;
result.m0 = 1.0f - (yy + zz);
result.m1 = xy - wz;
result.m2 = xz + wy;
result.m3 = 0.0f;
result.m4 = xy + wz;
result.m5 = 1.0f - (xx + zz);
result.m6 = yz - wx;
result.m7 = 0.0f;
result.m8 = xz - wy;
result.m9 = yz + wx;
result.m10 = 1.0f - (xx + yy);
result.m11 = 0.0f;
result.m12 = 0.0f;
result.m13 = 0.0f;
result.m14 = 0.0f;
result.m15 = 1.0f;
return result;
return m;
}
// Returns rotation quaternion for an angle and axis