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Add getBulletQuaternion for MiniGLM

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This commit is contained in:
Benau 2022-10-13 12:12:07 +08:00
parent 6cdc554d21
commit 46f44b5d59
1 changed files with 15 additions and 2 deletions
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17
lib/graphics_engine/include/mini_glm.hpp
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@ -509,13 +509,13 @@ namespace MiniGLM
return ret.normalize();
} // decompressbtQuaternion
// ------------------------------------------------------------------------
inline core::quaternion getQuaternion(const core::matrix4& m)
inline std::array<float, 4> getQuaternionInternal(const core::matrix4& m)
{
btVector3 row[3];
memcpy(&row[0][0], &m[0], 12);
memcpy(&row[1][0], &m[4], 12);
memcpy(&row[2][0], &m[8], 12);
btVector3 q;
std::array<float, 4> q;
float root = row[0].x() + row[1].y() + row[2].z();
const float trace = root;
if (trace > 0.0f)
@ -551,9 +551,22 @@ namespace MiniGLM
q[k] = root * (row[i][k] + row[k][i]);
q[3] = root * (row[j][k] - row[k][j]);
}
return q;
}
// ------------------------------------------------------------------------
inline core::quaternion getQuaternion(const core::matrix4& m)
{
std::array<float, 4> q = getQuaternionInternal(m);
return core::quaternion(q[0], q[1], q[2], q[3]).normalize();
}
// ------------------------------------------------------------------------
inline btQuaternion getBulletQuaternion(const core::matrix4& m)
{
std::array<float, 4> q = getQuaternionInternal(m);
return btQuaternion(q[0], q[1], q[2], q[3]).normalize();
}
// ------------------------------------------------------------------------
inline uint32_t quickTangent(uint32_t packed_normal)
{
core::vector3df normal = decompressVector3(packed_normal);