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Add quaternion class.

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This commit is contained in:
Viktor Kovacs 2021-05-24 09:19:44 +02:00
parent 2815c27a32
commit 0394d60581
14 changed files with 63 additions and 32 deletions
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1
sandbox/embed_selfhost_fullscreen.html
View File

@ -14,6 +14,7 @@
<script type="text/javascript" src="../source/geometry/geometry.js"></script>
<script type="text/javascript" src="../source/geometry/coord2d.js"></script>
<script type="text/javascript" src="../source/geometry/coord3d.js"></script>
<script type="text/javascript" src="../source/geometry/quaternion.js"></script>
<script type="text/javascript" src="../source/geometry/box3d.js"></script>
<script type="text/javascript" src="../source/geometry/octree.js"></script>
<script type="text/javascript" src="../source/geometry/matrix.js"></script>

1
sandbox/embed_selfhost_multiple.html
View File

@ -15,6 +15,7 @@
<script type="text/javascript" src="../source/geometry/geometry.js"></script>
<script type="text/javascript" src="../source/geometry/coord2d.js"></script>
<script type="text/javascript" src="../source/geometry/coord3d.js"></script>
<script type="text/javascript" src="../source/geometry/quaternion.js"></script>
<script type="text/javascript" src="../source/geometry/box3d.js"></script>
<script type="text/javascript" src="../source/geometry/octree.js"></script>
<script type="text/javascript" src="../source/geometry/matrix.js"></script>

1
sandbox/embed_selfhost_single.html
View File

@ -14,6 +14,7 @@
<script type="text/javascript" src="../source/geometry/geometry.js"></script>
<script type="text/javascript" src="../source/geometry/coord2d.js"></script>
<script type="text/javascript" src="../source/geometry/coord3d.js"></script>
<script type="text/javascript" src="../source/geometry/quaternion.js"></script>
<script type="text/javascript" src="../source/geometry/box3d.js"></script>
<script type="text/javascript" src="../source/geometry/octree.js"></script>
<script type="text/javascript" src="../source/geometry/matrix.js"></script>

1
sandbox/embed_selfhost_single_scroll.html
View File

@ -14,6 +14,7 @@
<script type="text/javascript" src="../source/geometry/geometry.js"></script>
<script type="text/javascript" src="../source/geometry/coord2d.js"></script>
<script type="text/javascript" src="../source/geometry/coord3d.js"></script>
<script type="text/javascript" src="../source/geometry/quaternion.js"></script>
<script type="text/javascript" src="../source/geometry/box3d.js"></script>
<script type="text/javascript" src="../source/geometry/octree.js"></script>
<script type="text/javascript" src="../source/geometry/matrix.js"></script>

5
source/geometry/coord3d.js
View File

@ -117,3 +117,8 @@ OV.VectorLength3D = function (x, y, z)
{
return Math.sqrt (x * x + y * y + z * z);
};
OV.ArrayToCoord3D = function (arr)
{
return new OV.Coord3D (arr[0], arr[1], arr[2]);
};

42
source/geometry/matrix.js
View File

@ -104,16 +104,16 @@ OV.Matrix = class
ComposeTRS (translation, rotation, scale)
{
let tx = translation[0];
let ty = translation[1];
let tz = translation[2];
let qx = rotation[0];
let qy = rotation[1];
let qz = rotation[2];
let qw = rotation[3];
let sx = scale[0];
let sy = scale[1];
let sz = scale[2];
let tx = translation.x;
let ty = translation.y;
let tz = translation.z;
let qx = rotation.x;
let qy = rotation.y;
let qz = rotation.z;
let qw = rotation.w;
let sx = scale.x;
let sy = scale.y;
let sz = scale.z;
let x2 = qx + qx;
let y2 = qy + qy;
@ -139,11 +139,11 @@ OV.Matrix = class
DecomposeTRS ()
{
let translation = [
let translation = new OV.Coord3D (
this.matrix[12],
this.matrix[13],
this.matrix[14]
];
);
let sx = OV.VectorLength3D (this.matrix[0], this.matrix[1], this.matrix[2]);
let sy = OV.VectorLength3D (this.matrix[4], this.matrix[5], this.matrix[6]);
@ -152,7 +152,7 @@ OV.Matrix = class
if (OV.IsNegative (determinant)) {
sx *= -1.0;
}
let scale = [sx, sy, sz];
let scale = new OV.Coord3D (sx, sy, sz);
let m00 = this.matrix[0] / sx;
let m01 = this.matrix[4] / sy;
@ -169,36 +169,36 @@ OV.Matrix = class
let tr = m00 + m11 + m22;
if (tr > 0.0) {
let s = Math.sqrt (tr + 1.0) * 2.0;
rotation = [
rotation = new OV.Quaternion (
(m21 - m12) / s,
(m02 - m20) / s,
(m10 - m01) / s,
0.25 * s
];
);
} else if ((m00 > m11) && (m00 > m22)) {
let s = Math.sqrt (1.0 + m00 - m11 - m22) * 2.0;
rotation = [
rotation = new OV.Quaternion (
0.25 * s,
(m01 + m10) / s,
(m02 + m20) / s,
(m21 - m12) / s
];
);
} else if (m11 > m22) {
let s = Math.sqrt (1.0 + m11 - m00 - m22) * 2.0;
rotation = [
rotation = new OV.Quaternion (
(m01 + m10) / s,
0.25 * s,
(m12 + m21) / s,
(m02 - m20) / s
];
);
} else {
let s = Math.sqrt (1.0 + m22 - m00 - m11) * 2.0;
rotation = [
rotation = new OV.Quaternion (
(m02 + m20) / s,
(m12 + m21) / s,
0.25 * s,
(m10 - m01) / s
];
);
}
return {

15
source/geometry/quaternion.js Normal file
View File

@ -0,0 +1,15 @@
OV.Quaternion = class
{
constructor (x, y, z, w)
{
this.x = x;
this.y = y;
this.z = z;
this.w = w;
}
};
OV.ArrayToQuaternion = function (arr)
{
return new OV.Quaternion (arr[0], arr[1], arr[2], arr[3]);
};

6
source/import/importer3ds.js
View File

@ -468,9 +468,9 @@ OV.Importer3ds = class extends OV.ImporterBase
let matrix = new OV.Matrix ();
matrix.ComposeTRS (
GetNodePosition (node),
GetNodeRotation (node),
GetNodeScale (node)
OV.ArrayToCoord3D (GetNodePosition (node)),
OV.ArrayToQuaternion (GetNodeRotation (node)),
OV.ArrayToCoord3D (GetNodeScale (node))
);
if (node.userId !== 65535) {

6
source/import/importergltf.js
View File

@ -700,7 +700,11 @@ OV.ImporterGltf = class extends OV.ImporterBase
}
if (hasTransformation) {
matrix.ComposeTRS (translation, rotation, scale);
matrix.ComposeTRS (
OV.ArrayToCoord3D (translation),
OV.ArrayToQuaternion (rotation),
OV.ArrayToCoord3D (scale)
);
}
}

2
source/model/modelutils.js
View File

@ -29,7 +29,7 @@ OV.TransformMesh = function (mesh, transformation)
if (mesh.NormalCount () > 0) {
let trs = transformation.GetMatrix ().DecomposeTRS ();
let normalMatrix = new OV.Matrix ().ComposeTRS ([0.0, 0.0, 0.0], trs.rotation, [1.0, 1.0, 1.0]);
let normalMatrix = new OV.Matrix ().ComposeTRS (new OV.Coord3D (0.0, 0.0, 0.0), trs.rotation, new OV.Coord3D (1.0, 1.0, 1.0));
let normalTransformation = new OV.Transformation (normalMatrix);
for (let i = 0; i < mesh.NormalCount (); i++) {
let normal = mesh.GetNormal (i);

12
test/tests/geometry_test.js
View File

@ -12,12 +12,12 @@ function CreateYRot90Quaternion ()
let rotX = 0.0;
let rotY = 1.0;
let rotZ = 0.0;
let quaternion = [
let quaternion = new OV.Quaternion (
Math.sin (angle / 2.0) * rotX,
Math.sin (angle / 2.0) * rotY,
Math.sin (angle / 2.0) * rotZ,
Math.cos (angle / 2.0)
];
);
return quaternion;
}
@ -102,7 +102,7 @@ describe ('Transformation', function() {
assert (!tr.IsIdentity ());
assert (OV.CoordIsEqual3D (tr.TransformCoord3D (coord), new OV.Coord3D (3.0, 8.0, 15.0)));
tr.AppendMatrix (new OV.Matrix ().CreateRotation (rotation[0], rotation[1], rotation[2], rotation[3]));
tr.AppendMatrix (new OV.Matrix ().CreateRotation (rotation.x, rotation.y, rotation.z, rotation.w));
assert (!tr.IsIdentity ());
assert (OV.CoordIsEqual3D (tr.TransformCoord3D (coord), new OV.Coord3D (15.0, 8.0, -3.0)));
@ -111,7 +111,7 @@ describe ('Transformation', function() {
assert (OV.CoordIsEqual3D (tr.TransformCoord3D (coord), new OV.Coord3D (19.0, 13.0, 3.0)));
let tr2 = new OV.Transformation ();
tr2.SetMatrix (new OV.Matrix ().ComposeTRS ([4.0, 5.0, 6.0], rotation, [3.0, 4.0, 5.0]));
tr2.SetMatrix (new OV.Matrix ().ComposeTRS (new OV.Coord3D (4.0, 5.0, 6.0), rotation, new OV.Coord3D (3.0, 4.0, 5.0)));
assert (OV.CoordIsEqual3D (tr2.TransformCoord3D (coord), new OV.Coord3D (19.0, 13.0, 3.0)));
});
@ -120,7 +120,7 @@ describe ('Transformation', function() {
let coord = new OV.Coord3D (1.0, 2.0, 3.0);
let tr = new OV.Transformation ();
tr.SetMatrix (new OV.Matrix ().ComposeTRS ([4.0, 5.0, 6.0], rotation, [3.0, 4.0, 5.0]));
tr.SetMatrix (new OV.Matrix ().ComposeTRS (new OV.Coord3D (4.0, 5.0, 6.0), rotation, new OV.Coord3D (3.0, 4.0, 5.0)));
assert (OV.CoordIsEqual3D (tr.TransformCoord3D (coord), new OV.Coord3D (19.0, 13.0, 3.0)));
});
@ -129,7 +129,7 @@ describe ('Transformation', function() {
let coord = new OV.Coord3D (1.0, 2.0, 3.0);
let tr = new OV.Transformation ();
tr.SetMatrix (new OV.Matrix ().ComposeTRS ([4.0, 5.0, 6.0], rotation, [3.0, 4.0, 5.0]));
tr.SetMatrix (new OV.Matrix ().ComposeTRS (new OV.Coord3D (4.0, 5.0, 6.0), rotation, new OV.Coord3D (3.0, 4.0, 5.0)));
assert (OV.CoordIsEqual3D (tr.TransformCoord3D (coord), new OV.Coord3D (19.0, 13.0, 3.0)));
let trs = tr.GetMatrix ().DecomposeTRS ();

1
tools/config.json
View File

@ -10,6 +10,7 @@
"source/geometry/geometry.js",
"source/geometry/coord2d.js",
"source/geometry/coord3d.js",
"source/geometry/quaternion.js",
"source/geometry/box3d.js",
"source/geometry/octree.js",
"source/geometry/matrix.js",

1
website/embed.html
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@ -23,6 +23,7 @@
<script type="text/javascript" src="../source/geometry/geometry.js"></script>
<script type="text/javascript" src="../source/geometry/coord2d.js"></script>
<script type="text/javascript" src="../source/geometry/coord3d.js"></script>
<script type="text/javascript" src="../source/geometry/quaternion.js"></script>
<script type="text/javascript" src="../source/geometry/box3d.js"></script>
<script type="text/javascript" src="../source/geometry/octree.js"></script>
<script type="text/javascript" src="../source/geometry/matrix.js"></script>

1
website/index.html
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@ -23,6 +23,7 @@
<script type="text/javascript" src="../source/geometry/geometry.js"></script>
<script type="text/javascript" src="../source/geometry/coord2d.js"></script>
<script type="text/javascript" src="../source/geometry/coord3d.js"></script>
<script type="text/javascript" src="../source/geometry/quaternion.js"></script>
<script type="text/javascript" src="../source/geometry/box3d.js"></script>
<script type="text/javascript" src="../source/geometry/octree.js"></script>
<script type="text/javascript" src="../source/geometry/matrix.js"></script>