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Merge branch 'master' into simd-3

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Recep Aslantas
2021-05-07 14:08:56 +03:00
committed by GitHub
parent 5c22ca3abb ad17f38934
commit 607182982d
8 changed files with 108 additions and 2 deletions
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20
docs/source/quat.rst
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@@ -52,6 +52,7 @@ Functions:
#. :c:func:`glm_quat_mat3`
#. :c:func:`glm_quat_mat3t`
#. :c:func:`glm_quat_lerp`
#. :c:func:`glm_quat_nlerp`
#. :c:func:`glm_quat_slerp`
#. :c:func:`glm_quat_look`
#. :c:func:`glm_quat_for`
@@ -304,6 +305,25 @@ Functions documentation
| *[in]* **t** interpolant (amount) clamped between 0 and 1
| *[out]* **dest** result quaternion
.. c:function:: void glm_quat_nlerp(versor q, versor r, float t, versor dest)
| interpolates between two quaternions
| taking the shortest rotation path using
| normalized linear interpolation (NLERP)
| This is a cheaper alternative to slerp; most games use nlerp
| for animations as it visually makes little difference.
References:
* `Understanding Slerp, Then Not Using it <http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It>`_
* `Lerp, Slerp and Nlerp <https://keithmaggio.wordpress.com/2011/02/15/math-magician-lerp-slerp-and-nlerp/>`_
Parameters:
| *[in]* **from** from
| *[in]* **to** to
| *[in]* **t** interpolant (amount) clamped between 0 and 1
| *[out]* **dest** result quaternion
.. c:function:: void glm_quat_slerp(versor q, versor r, float t, versor dest)
| interpolates between two quaternions

6
include/cglm/call/quat.h
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@@ -116,11 +116,15 @@ glmc_quat_mat3t(versor q, mat3 dest);
CGLM_EXPORT
void
glmc_quat_lerp(versor from, versor to, float t, versor dest);
CGLM_EXPORT
void
glmc_quat_lerpc(versor from, versor to, float t, versor dest);
CGLM_EXPORT
void
glmc_quat_nlerp(versor q, versor r, float t, versor dest);
CGLM_EXPORT
void
glmc_quat_slerp(versor q, versor r, float t, versor dest);

2
include/cglm/call/vec4.h
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@@ -99,7 +99,7 @@ glmc_vec4_scale(vec4 v, float s, vec4 dest);
CGLM_EXPORT
void
glmc_vec4_scale_as(vec3 v, float s, vec3 dest);
glmc_vec4_scale_as(vec4 v, float s, vec4 dest);
CGLM_EXPORT
void

21
include/cglm/quat.h
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@@ -38,6 +38,7 @@
CGLM_INLINE void glm_quat_lerp(versor from, versor to, float t, versor dest);
CGLM_INLINE void glm_quat_lerpc(versor from, versor to, float t, versor dest);
CGLM_INLINE void glm_quat_slerp(versor q, versor r, float t, versor dest);
CGLM_INLINE void glm_quat_nlerp(versor q, versor r, float t, versor dest);
CGLM_INLINE void glm_quat_look(vec3 eye, versor ori, mat4 dest);
CGLM_INLINE void glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest);
CGLM_INLINE void glm_quat_forp(vec3 from,
@@ -628,6 +629,26 @@ glm_quat_lerpc(versor from, versor to, float t, versor dest) {
glm_vec4_lerpc(from, to, t, dest);
}
/*!
* @brief interpolates between two quaternions
* taking the shortest rotation path using
* normalized linear interpolation (NLERP)
*
* @param[in] from from
* @param[in] to to
* @param[in] t interpolant (amount)
* @param[out] dest result quaternion
*/
CGLM_INLINE
void
glm_quat_nlerp(versor from, versor to, float t, versor dest) {
float dot = glm_vec4_dot(from, to);
versor target;
glm_vec4_scale(to, (dot >= 0) ? 1 : -1, target);
glm_quat_lerp(from, target, t, dest);
glm_quat_normalize(dest);
}
/*!
* @brief interpolates between two quaternions
* using spherical linear interpolation (SLERP)

19
include/cglm/struct/quat.h
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@@ -34,6 +34,7 @@
CGLM_INLINE mat3s glms_quat_mat3t(versors q)
CGLM_INLINE versors glms_quat_lerp(versors from, versors to, float t)
CGLM_INLINE versors glms_quat_lerpc(versors from, versors to, float t)
CGLM_INLINE versors glms_quat_nlerp(versors from, versors to, float t)
CGLM_INLINE versors glms_quat_slerp(versors from, versors to, float t)
CGLM_INLINE mat4s. glms_quat_look(vec3s eye, versors ori)
CGLM_INLINE versors glms_quat_for(vec3s dir, vec3s fwd, vec3s up)
@@ -401,6 +402,24 @@ glms_quat_lerpc(versors from, versors to, float t) {
return dest;
}
/*!
* @brief interpolates between two quaternions
* taking the shortest rotation path using
* normalized linear interpolation (NLERP)
*
* @param[in] from from
* @param[in] to to
* @param[in] t interpolant (amount)
* @param[out] dest result quaternion
*/
CGLM_INLINE
versors
glms_quat_nlerp(versors from, versors to, float t) {
versors dest;
glm_quat_nlerp(from.raw, to.raw, t, dest.raw);
return dest;
}
/*!
* @brief interpolates between two quaternions
* using spherical linear interpolation (SLERP)

6
src/quat.c
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@@ -170,6 +170,12 @@ glmc_quat_lerpc(versor from, versor to, float t, versor dest) {
glm_quat_lerpc(from, to, t, dest);
}
CGLM_EXPORT
void
glmc_quat_nlerp(versor from, versor to, float t, versor dest) {
glm_quat_nlerp(from, to, t, dest);
}
CGLM_EXPORT
void
glmc_quat_slerp(versor from, versor to, float t, versor dest) {

32
test/src/test_quat.h
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@@ -708,6 +708,38 @@ TEST_IMPL(GLM_PREFIX, quat_lerpc) {
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat_nlerp) {
versor q1, q2, q3, q4;
vec3 v1 = {10.0f, 0.0f, 0.0f}, v2;
glm_quatv(q1, glm_rad(30.0f), v1);
glm_quatv(q2, glm_rad(90.0f), v1);
GLM(quat_nlerp)(q1, q2, 1.0f, q3);
glm_quat_normalize(q2);
ASSERTIFY(test_assert_quat_eq(q2, q3));
glm_quatv(q1, glm_rad(30.001f), v1);
glm_quatv(q2, glm_rad(30.002f), v1);
GLM(quat_nlerp)(q1, q2, 0.7f, q3);
glm_quat_lerp(q1, q2, 0.7f, q4);
ASSERTIFY(test_assert_quat_eq(q3, q4));
glm_quatv(q1, glm_rad(30.0f), v1);
glm_quatv(q2, glm_rad(90.0f), v1);
GLM(quat_nlerp)(q1, q2, 0.5f, q3);
glm_quat_axis(q3, v2);
glm_vec3_normalize(v1);
glm_vec3_normalize(v2);
ASSERT(glm_quat_angle(q3) > glm_rad(30.0f));
ASSERT(glm_quat_angle(q3) < glm_rad(90.0f));
ASSERTIFY(test_assert_vec3_eq(v1, v2))
TEST_SUCCESS
}
TEST_IMPL(GLM_PREFIX, quat_slerp) {
versor q1, q2, q3, q4;
vec3 v1 = {10.0f, 0.0f, 0.0f}, v2;

4
test/tests.h
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@@ -284,6 +284,7 @@ TEST_DECLARE(glm_quat_mat3)
TEST_DECLARE(glm_quat_mat3t)
TEST_DECLARE(glm_quat_lerp)
TEST_DECLARE(glm_quat_lerpc)
TEST_DECLARE(glm_quat_nlerp)
TEST_DECLARE(glm_quat_slerp)
TEST_DECLARE(glm_quat_look)
TEST_DECLARE(glm_quat_for)
@@ -320,6 +321,7 @@ TEST_DECLARE(glmc_quat_mat3)
TEST_DECLARE(glmc_quat_mat3t)
TEST_DECLARE(glmc_quat_lerp)
TEST_DECLARE(glmc_quat_lerpc)
TEST_DECLARE(glmc_quat_nlerp)
TEST_DECLARE(glmc_quat_slerp)
TEST_DECLARE(glmc_quat_look)
TEST_DECLARE(glmc_quat_for)
@@ -1006,6 +1008,7 @@ TEST_LIST {
TEST_ENTRY(glm_quat_mat3t)
TEST_ENTRY(glm_quat_lerp)
TEST_ENTRY(glm_quat_lerpc)
TEST_ENTRY(glm_quat_nlerp)
TEST_ENTRY(glm_quat_slerp)
TEST_ENTRY(glm_quat_look)
TEST_ENTRY(glm_quat_for)
@@ -1042,6 +1045,7 @@ TEST_LIST {
TEST_ENTRY(glmc_quat_mat3t)
TEST_ENTRY(glmc_quat_lerp)
TEST_ENTRY(glmc_quat_lerpc)
TEST_ENTRY(glmc_quat_nlerp)
TEST_ENTRY(glmc_quat_slerp)
TEST_ENTRY(glmc_quat_look)
TEST_ENTRY(glmc_quat_for)