Changeset 8560 in orxonox.OLD

Timestamp:

Jun 17, 2006, 12:22:53 PM (18 years ago)

Author:

patrick

Message:

bsp: new quaterinon constructor created for 3x3 matrices, bone rotation interpolation via quaternions implemented

Location:

branches/bsp_model/src/lib

Files:

• graphics/importer/md3/md3_model.cc (modified) (2 diffs)
• graphics/importer/md3/md3_model.h (modified) (1 diff)
• math/quaternion.cc (modified) (3 diffs)
• math/quaternion.h (modified) (2 diffs)

branches/bsp_model/src/lib/graphics/importer/md3/md3_model.cc

@@ -25 +25 @@
 
 #include "material.h"
+#include "quaternion.h"
 
 namespace md3
@@ -266 +267 @@
    */
   float* MD3Model::interpolateTransformation(MD3Tag* currFrameTag, MD3Tag* nextFrameTag, float frac)
-  {}
+  {
+    // interpolate position
+    Vector interpolatedPosition = currFrameTag->position * (1.0f - frac) + nextFrameTag->position * frac;
+
+
+    // interpolate rotation matrix
+    float  currRot[4][4];
+    float  nextRot[4][4];
+    float  interpolatedMatrix[4][4];
+
+    Quaternion currQuat(currFrameTag->matrix); currQuat.matrix(currRot);
+    Quaternion nextQuat(nextFrameTag->matrix); nextQuat.matrix(nextRot);
+
+    Quaternion interpolatedQuat = Quaternion::quatSlerp(currQuat, nextQuat, frac); interpolatedQuat.matrix(interpolatedMatrix);
+
+    // quaternion code is column based, so use transposed matrix when spitting out to gl
+    this->tmpMatrix[0] = interpolatedMatrix[0][0];
+    this->tmpMatrix[4] = interpolatedMatrix[1][0];
+    this->tmpMatrix[8] = interpolatedMatrix[2][0];
+    this->tmpMatrix[12] = interpolatedPosition.x;
+    this->tmpMatrix[1] = interpolatedMatrix[0][1];
+    this->tmpMatrix[5] = interpolatedMatrix[1][1];
+    this->tmpMatrix[9] = interpolatedMatrix[2][1];
+    this->tmpMatrix[13] = interpolatedPosition.y;
+    this->tmpMatrix[2] = interpolatedMatrix[0][2];
+    this->tmpMatrix[6] = interpolatedMatrix[1][2];
+    this->tmpMatrix[10]= interpolatedMatrix[2][2];
+    this->tmpMatrix[14] = interpolatedPosition.z;
+    this->tmpMatrix[3] = 0.0f;
+    this->tmpMatrix[7] = 0.0f;
+    this->tmpMatrix[11]= 0.0f;
+    this->tmpMatrix[15] = 1.0f;
+
+    return this->tmpMatrix;
+
+  }
 
 

branches/bsp_model/src/lib/graphics/importer/md3/md3_model.h

@@ -62 +62 @@
     sVec3D*             tmpMesh;           //!< a temporary mesh frame
     MD3Normal*          tmpNormal;         //!< a temporary normals frame
+    float               tmpMatrix[16];     //!< a temporary matrix
 };
 

branches/bsp_model/src/lib/math/quaternion.cc

@@ -133 +133 @@
 
 
+
 /**
  * @brief Slerps this QUaternion performs a smooth move.
@@ -298 +299 @@
 }
 
+
+/**
+ * Creates a quaternion from a 3x3 rotation matrix.
+ * @param mat The 3x3 source rotation matrix.
+ * @return The equivalent 4 float quaternion.
+ */
+Quaternion::Quaternion(float mat[3][3])
+{
+  int   NXT[] = {1, 2, 0};
+  float q[4];
+
+  // check the diagonal
+  float tr = mat[0][0] + mat[1][1] + mat[2][2];
+  if( tr > 0.0f) {
+    float s = (float)sqrtf(tr + 1.0f);
+    this->w = s * 0.5f;
+    s = 0.5f / s;
+    this->v.x = (mat[1][2] - mat[2][1]) * s;
+    this->v.y = (mat[2][0] - mat[0][2]) * s;
+    this->v.z = (mat[0][1] - mat[1][0]) * s;
+  }
+  else
+  {
+    // diagonal is negative
+    // get biggest diagonal element
+    int i = 0;
+    if (mat[1][1] > mat[0][0]) i = 1;
+    if (mat[2][2] > mat[i][i]) i = 2;
+    //setup index sequence
+    int j = NXT[i];
+    int k = NXT[j];
+
+    float s = (float)sqrtf((mat[i][i] - (mat[j][j] + mat[k][k])) + 1.0f);
+
+    q[i] = s * 0.5f;
+
+    if (s != 0.0f) s = 0.5f / s;
+
+    q[j] = (mat[i][j] + mat[j][i]) * s;
+    q[k] = (mat[i][k] + mat[k][i]) * s;
+    q[3] = (mat[j][k] - mat[k][j]) * s;
+
+    this->v.x = q[0];
+    this->v.y = q[1];
+    this->v.z = q[2];
+    this->w   = q[3];
+  }
+}
+
 /**
  * @brief outputs some nice formated debug information about this quaternion
@@ -314 +364 @@
   PRINT(0)("angle = %f, axis: ax=%f, ay=%f, az=%f\n", this->getSpacialAxisAngle(), axis.x, axis.y, axis.z );
 }
+
+
+
+
+
+

branches/bsp_model/src/lib/math/quaternion.h

@@ -42 +42 @@
   inline Quaternion (const Vector& v, float f) { this->w = f; this->v = v; }
   Quaternion (float m[4][4]);
+  Quaternion (float m[3][3]);
   /** turns a rotation along an axis into a Quaternion @param angle: the amount of radians to rotate @param axis: the axis to rotate around */
   inline Quaternion (float angle, const Vector& axis) { w = cos(angle/2.0); v = axis * sin(angle/2.0); }
@@ -118 +119 @@
 
 
+// some helper functions
+float* quaternionFromMatrix(float* mat);
+
+
 #endif /* __QUATERNION_H_ */