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Fix blend animation to solve TRS track bug & blend order inconsistency

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Silc 'Tokage' Renew 2022-03-16 01:35:25 +09:00
parent 7866c98479
commit b06d253920
6 changed files with 83 additions and 51 deletions
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19
core/math/quaternion.cpp
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@ -102,6 +102,22 @@ Quaternion Quaternion::inverse() const {
return Quaternion(-x, -y, -z, w);
}
Quaternion Quaternion::log() const {
Quaternion src = *this;
Vector3 src_v = src.get_axis() * src.get_angle();
return Quaternion(src_v.x, src_v.y, src_v.z, 0);
}
Quaternion Quaternion::exp() const {
Quaternion src = *this;
Vector3 src_v = Vector3(src.x, src.y, src.z);
float theta = src_v.length();
if (theta < CMP_EPSILON) {
return Quaternion(0, 0, 0, 1);
}
return Quaternion(src_v.normalized(), theta);
}
Quaternion Quaternion::slerp(const Quaternion &p_to, const real_t &p_weight) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), Quaternion(), "The start quaternion must be normalized.");
@ -190,6 +206,9 @@ Quaternion::operator String() const {
}
Vector3 Quaternion::get_axis() const {
if (Math::abs(w) > 1 - CMP_EPSILON) {
return Vector3(x, y, z);
}
real_t r = ((real_t)1) / Math::sqrt(1 - w * w);
return Vector3(x * r, y * r, z * r);
}

2
core/math/quaternion.h
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@ -60,6 +60,8 @@ struct _NO_DISCARD_ Quaternion {
Quaternion normalized() const;
bool is_normalized() const;
Quaternion inverse() const;
Quaternion log() const;
Quaternion exp() const;
_FORCE_INLINE_ real_t dot(const Quaternion &p_q) const;
real_t angle_to(const Quaternion &p_to) const;