Sara
c3f9669b10
git-subtree-dir: engine git-subtree-mainline:b74841629egit-subtree-split:a8e37fc010
61 lines
3.1 KiB
Diff
61 lines
3.1 KiB
Diff
diff --git a/thirdparty/jolt_physics/Jolt/Math/Quat.h b/thirdparty/jolt_physics/Jolt/Math/Quat.h
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index 6e7e3bef6c..1971e2ddf1 100644
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--- a/thirdparty/jolt_physics/Jolt/Math/Quat.h
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+++ b/thirdparty/jolt_physics/Jolt/Math/Quat.h
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@@ -111,6 +111,9 @@ public:
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/// Get axis and angle that represents this quaternion, outAngle will always be in the range \f$[0, \pi]\f$
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JPH_INLINE void GetAxisAngle(Vec3 &outAxis, float &outAngle) const;
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+ /// Calculate angular velocity given that this quaternion represents the rotation that is reached after inDeltaTime when starting from identity rotation
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+ JPH_INLINE Vec3 GetAngularVelocity(float inDeltaTime) const;
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+
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/// Create quaternion that rotates a vector from the direction of inFrom to the direction of inTo along the shortest path
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/// @see https://www.euclideanspace.com/maths/algebra/vectors/angleBetween/index.htm
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JPH_INLINE static Quat sFromTo(Vec3Arg inFrom, Vec3Arg inTo);
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diff --git a/thirdparty/jolt_physics/Jolt/Math/Quat.inl b/thirdparty/jolt_physics/Jolt/Math/Quat.inl
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index 57e1947b30..7c160a5f23 100644
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--- a/thirdparty/jolt_physics/Jolt/Math/Quat.inl
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+++ b/thirdparty/jolt_physics/Jolt/Math/Quat.inl
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@@ -151,6 +151,26 @@ void Quat::GetAxisAngle(Vec3 &outAxis, float &outAngle) const
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}
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}
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+Vec3 Quat::GetAngularVelocity(float inDeltaTime) const
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+{
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+ JPH_ASSERT(IsNormalized());
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+
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+ // w = cos(angle / 2), ensure it is positive so that we get an angle in the range [0, PI]
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+ Quat w_pos = EnsureWPositive();
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+
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+ // The imaginary part of the quaternion is axis * sin(angle / 2),
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+ // if the length is small use the approximation sin(x) = x to calculate angular velocity
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+ Vec3 xyz = w_pos.GetXYZ();
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+ float xyz_len_sq = xyz.LengthSq();
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+ if (xyz_len_sq < 4.0e-4f) // Max error introduced is sin(0.02) - 0.02 = 7e-5 (when w is near 1 the angle becomes more inaccurate in the code below, so don't make this number too small)
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+ return (2.0f / inDeltaTime) * xyz;
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+
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+ // Otherwise calculate the angle from w = cos(angle / 2) and determine the axis by normalizing the imaginary part
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+ // Note that it is also possible to calculate the angle through angle = 2 * atan2(|xyz|, w). This is more accurate but also 2x as expensive.
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+ float angle = 2.0f * ACos(w_pos.GetW());
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+ return (xyz / (sqrt(xyz_len_sq) * inDeltaTime)) * angle;
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+}
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+
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Quat Quat::sFromTo(Vec3Arg inFrom, Vec3Arg inTo)
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{
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/*
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diff --git a/thirdparty/jolt_physics/Jolt/Physics/Body/MotionProperties.inl b/thirdparty/jolt_physics/Jolt/Physics/Body/MotionProperties.inl
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index 474ab15c18..e6caae61f5 100644
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--- a/thirdparty/jolt_physics/Jolt/Physics/Body/MotionProperties.inl
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+++ b/thirdparty/jolt_physics/Jolt/Physics/Body/MotionProperties.inl
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@@ -17,10 +17,7 @@ void MotionProperties::MoveKinematic(Vec3Arg inDeltaPosition, QuatArg inDeltaRot
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mLinearVelocity = LockTranslation(inDeltaPosition / inDeltaTime);
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// Calculate required angular velocity
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- Vec3 axis;
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- float angle;
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- inDeltaRotation.GetAxisAngle(axis, angle);
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- mAngularVelocity = LockAngular(axis * (angle / inDeltaTime));
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+ mAngularVelocity = LockAngular(inDeltaRotation.GetAngularVelocity(inDeltaTime));
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}
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void MotionProperties::ClampLinearVelocity()
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