Doni/ModelHandle
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Create quaternion from x, y, z rotation values.

Browse Source
This commit is contained in:
kovacsv 2022-01-15 12:11:52 +01:00
parent d4d4c1fad4
commit 646ca67e7e
3 changed files with 70 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

55
source/engine/geometry/quaternion.js
View File

@ -1,3 +1,5 @@
import { IsEqual } from './geometry.js';
export class Quaternion
{
constructor (x, y, z, w)
@ -9,6 +11,11 @@ export class Quaternion
}
}
export function QuaternionIsEqual (a, b)
{
return IsEqual (a.x, b.x) && IsEqual (a.y, b.y) && IsEqual (a.z, b.z) && IsEqual (a.w, b.w);
}
export function ArrayToQuaternion (arr)
{
return new Quaternion (arr[0], arr[1], arr[2], arr[3]);
@ -26,3 +33,51 @@ export function QuaternionFromAxisAngle (axis, angle)
Math.cos (a)
);
}
export function QuaternionFromXYZ (x, y, z, mode) {
const c1 = Math.cos (x / 2.0);
const c2 = Math.cos (y / 2.0);
const c3 = Math.cos (z / 2.0);
const s1 = Math.sin (x / 2.0);
const s2 = Math.sin (y / 2.0);
const s3 = Math.sin (z / 2.0);
let quaternion = new Quaternion (0.0, 0.0, 0.0, 1.0);
if (mode === 'XYZ') {
quaternion.x = s1 * c2 * c3 + c1 * s2 * s3;
quaternion.y = c1 * s2 * c3 - s1 * c2 * s3;
quaternion.z = c1 * c2 * s3 + s1 * s2 * c3;
quaternion.w = c1 * c2 * c3 - s1 * s2 * s3;
} else if (mode === 'YXZ') {
quaternion.x = s1 * c2 * c3 + c1 * s2 * s3;
quaternion.y = c1 * s2 * c3 - s1 * c2 * s3;
quaternion.z = c1 * c2 * s3 - s1 * s2 * c3;
quaternion.w = c1 * c2 * c3 + s1 * s2 * s3;
} else if (mode === 'ZXY') {
quaternion.x = s1 * c2 * c3 - c1 * s2 * s3;
quaternion.y = c1 * s2 * c3 + s1 * c2 * s3;
quaternion.z = c1 * c2 * s3 + s1 * s2 * c3;
quaternion.w = c1 * c2 * c3 - s1 * s2 * s3;
} else if (mode === 'ZYX') {
quaternion.x = s1 * c2 * c3 - c1 * s2 * s3;
quaternion.y = c1 * s2 * c3 + s1 * c2 * s3;
quaternion.z = c1 * c2 * s3 - s1 * s2 * c3;
quaternion.w = c1 * c2 * c3 + s1 * s2 * s3;
} else if (mode === 'YZX') {
quaternion.x = s1 * c2 * c3 + c1 * s2 * s3;
quaternion.y = c1 * s2 * c3 + s1 * c2 * s3;
quaternion.z = c1 * c2 * s3 - s1 * s2 * c3;
quaternion.w = c1 * c2 * c3 - s1 * s2 * s3;
} else if (mode === 'XZY') {
quaternion.x = s1 * c2 * c3 - c1 * s2 * s3;
quaternion.y = c1 * s2 * c3 - s1 * c2 * s3;
quaternion.z = c1 * c2 * s3 + s1 * s2 * c3;
quaternion.w = c1 * c2 * c3 + s1 * s2 * s3;
} else {
return null;
}
return quaternion;
}

4
source/engine/main.js
View File

@ -16,7 +16,7 @@ import { Coord4D } from './geometry/coord4d.js';
import { IsZero, IsLower, IsGreater, IsLowerOrEqual, IsGreaterOrEqual, IsEqual, IsEqualEps, IsPositive, IsNegative, Eps, BigEps, RadDeg, DegRad, Direction } from './geometry/geometry.js';
import { Matrix, MatrixIsEqual } from './geometry/matrix.js';
import { OctreeNode, Octree } from './geometry/octree.js';
import { Quaternion, ArrayToQuaternion, QuaternionFromAxisAngle } from './geometry/quaternion.js';
import { Quaternion, QuaternionIsEqual, ArrayToQuaternion, QuaternionFromAxisAngle, QuaternionFromXYZ } from './geometry/quaternion.js';
import { Transformation, TransformationIsEqual } from './geometry/transformation.js';
import { BezierTweenFunction, LinearTweenFunction, ParabolicTweenFunction, TweenCoord3D } from './geometry/tween.js';
import { File, FileList } from './import/filelist.js';
@ -124,8 +124,10 @@ export {
OctreeNode,
Octree,
Quaternion,
QuaternionIsEqual,
ArrayToQuaternion,
QuaternionFromAxisAngle,
QuaternionFromXYZ,
Transformation,
TransformationIsEqual,
BezierTweenFunction,

13
test/tests/geometry_test.js
View File

@ -40,7 +40,6 @@ describe ('Comparison', function () {
});
});
describe ('Coord', function () {
it ('Length', function () {
var c = new OV.Coord3D (2.0, 0.0, 0.0);
@ -64,6 +63,18 @@ describe ('Coord', function () {
});
});
describe ('Quaternion', function () {
it ('Create Quaternion', function () {
let q1 = OV.QuaternionFromAxisAngle (new OV.Coord3D (1.0, 0.0, 0.0), Math.PI / 2.0);
let q2 = OV.QuaternionFromXYZ (Math.PI / 2.0, 0.0, 0.0, 'XYZ');
assert.ok (OV.QuaternionIsEqual (q1, q2));
assert.ok (OV.IsEqual (q1.x, 0.7071067811865475));
assert.ok (OV.IsEqual (q1.y, 0.0));
assert.ok (OV.IsEqual (q1.z, 0.0));
assert.ok (OV.IsEqual (q1.w, 0.7071067811865475));
});
});
describe ('Triangle', function() {
it ('Calculate Normal', function () {
var normal = OV.CalculateTriangleNormal (