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Make cubic_interpolate() consider key time in animation

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Silc Renew
2022-07-29 04:55:10 +09:00
parent 0ba1046355
commit dded7c72c1
20 changed files with 352 additions and 23 deletions
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51
core/math/quaternion.cpp
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@@ -233,6 +233,57 @@ Quaternion Quaternion::spherical_cubic_interpolate(const Quaternion &p_b, const
return q1.slerp(q2, p_weight);
}
Quaternion Quaternion::spherical_cubic_interpolate_in_time(const Quaternion &p_b, const Quaternion &p_pre_a, const Quaternion &p_post_b, const real_t &p_weight,
const real_t &p_b_t, const real_t &p_pre_a_t, const real_t &p_post_b_t) const {
#ifdef MATH_CHECKS
ERR_FAIL_COND_V_MSG(!is_normalized(), Quaternion(), "The start quaternion must be normalized.");
ERR_FAIL_COND_V_MSG(!p_b.is_normalized(), Quaternion(), "The end quaternion must be normalized.");
#endif
Quaternion from_q = *this;
Quaternion pre_q = p_pre_a;
Quaternion to_q = p_b;
Quaternion post_q = p_post_b;
// Align flip phases.
from_q = Basis(from_q).get_rotation_quaternion();
pre_q = Basis(pre_q).get_rotation_quaternion();
to_q = Basis(to_q).get_rotation_quaternion();
post_q = Basis(post_q).get_rotation_quaternion();
// Flip quaternions to shortest path if necessary.
bool flip1 = signbit(from_q.dot(pre_q));
pre_q = flip1 ? -pre_q : pre_q;
bool flip2 = signbit(from_q.dot(to_q));
to_q = flip2 ? -to_q : to_q;
bool flip3 = flip2 ? to_q.dot(post_q) <= 0 : signbit(to_q.dot(post_q));
post_q = flip3 ? -post_q : post_q;
// Calc by Expmap in from_q space.
Quaternion ln_from = Quaternion(0, 0, 0, 0);
Quaternion ln_to = (from_q.inverse() * to_q).log();
Quaternion ln_pre = (from_q.inverse() * pre_q).log();
Quaternion ln_post = (from_q.inverse() * post_q).log();
Quaternion ln = Quaternion(0, 0, 0, 0);
ln.x = Math::cubic_interpolate_in_time(ln_from.x, ln_to.x, ln_pre.x, ln_post.x, p_weight, p_b_t, p_pre_a_t, p_post_b_t);
ln.y = Math::cubic_interpolate_in_time(ln_from.y, ln_to.y, ln_pre.y, ln_post.y, p_weight, p_b_t, p_pre_a_t, p_post_b_t);
ln.z = Math::cubic_interpolate_in_time(ln_from.z, ln_to.z, ln_pre.z, ln_post.z, p_weight, p_b_t, p_pre_a_t, p_post_b_t);
Quaternion q1 = from_q * ln.exp();
// Calc by Expmap in to_q space.
ln_from = (to_q.inverse() * from_q).log();
ln_to = Quaternion(0, 0, 0, 0);
ln_pre = (to_q.inverse() * pre_q).log();
ln_post = (to_q.inverse() * post_q).log();
ln = Quaternion(0, 0, 0, 0);
ln.x = Math::cubic_interpolate_in_time(ln_from.x, ln_to.x, ln_pre.x, ln_post.x, p_weight, p_b_t, p_pre_a_t, p_post_b_t);
ln.y = Math::cubic_interpolate_in_time(ln_from.y, ln_to.y, ln_pre.y, ln_post.y, p_weight, p_b_t, p_pre_a_t, p_post_b_t);
ln.z = Math::cubic_interpolate_in_time(ln_from.z, ln_to.z, ln_pre.z, ln_post.z, p_weight, p_b_t, p_pre_a_t, p_post_b_t);
Quaternion q2 = to_q * ln.exp();
// To cancel error made by Expmap ambiguity, do blends.
return q1.slerp(q2, p_weight);
}
Quaternion::operator String() const {
return "(" + String::num_real(x, false) + ", " + String::num_real(y, false) + ", " + String::num_real(z, false) + ", " + String::num_real(w, false) + ")";
}