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Animations :

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- Created a nlerp function in quaternion (thanks to Lyzards)
- Used it for rotation interpolation when blending animations (fixed the testAnimBlendBug thanks again to Lyzard)
see related post http://jmonkeyengine.org/groups/graphics/forum/topic/ogrexml-model-and-animation-blending/?topic_page=2&num=15#post-127813

git-svn-id: https://jmonkeyengine.googlecode.com/svn/trunk@7499 75d07b2b-3a1a-0410-a2c5-0572b91ccdca
This commit is contained in:
rem..om 2011-05-15 15:46:39 +00:00
parent 5468dfe927
commit eb63ad11de
3 changed files with 229 additions and 198 deletions
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2
engine/src/core/com/jme3/animation/Bone.java
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@ -449,7 +449,7 @@ public final class Bone implements Savable {
//rotation //rotation
tmpQ.set(initialRot).multLocal(rotation); tmpQ.set(initialRot).multLocal(rotation);
localRot.slerp(tmpQ, weight); localRot.nlerp(tmpQ, weight);
//scale //scale
if (scale != null) { if (scale != null) {

2
engine/src/core/com/jme3/animation/BoneTrack.java
View File

@ -175,7 +175,7 @@ public final class BoneTrack implements Savable {
if (scales != null) { if (scales != null) {
scales.get(endFrame, tempS2); scales.get(endFrame, tempS2);
} }
tempQ.slerp(tempQ2, blend); tempQ.nlerp(tempQ2, blend);
tempV.interpolate(tempV2, blend); tempV.interpolate(tempV2, blend);
tempS.interpolate(tempS2, blend); tempS.interpolate(tempS2, blend);
} }

155
engine/src/core/com/jme3/math/Quaternion.java
View File

@ -29,7 +29,6 @@
* NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS * NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
* SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/ */
package com.jme3.math; package com.jme3.math;
import com.jme3.export.InputCapsule; import com.jme3.export.InputCapsule;
@ -60,18 +59,16 @@ import java.util.logging.Logger;
public final class Quaternion implements Savable, Cloneable { public final class Quaternion implements Savable, Cloneable {
private static final Logger logger = Logger.getLogger(Quaternion.class.getName()); private static final Logger logger = Logger.getLogger(Quaternion.class.getName());
/** /**
* Represents the identity quaternion rotation (0, 0, 0, 1). * Represents the identity quaternion rotation (0, 0, 0, 1).
*/ */
public static final Quaternion IDENTITY = new Quaternion(); public static final Quaternion IDENTITY = new Quaternion();
public static final Quaternion DIRECTION_Z = new Quaternion(); public static final Quaternion DIRECTION_Z = new Quaternion();
public static final Quaternion ZERO = new Quaternion(0,0,0,0); public static final Quaternion ZERO = new Quaternion(0, 0, 0, 0);
static { static {
DIRECTION_Z.fromAxes(Vector3f.UNIT_X, Vector3f.UNIT_Y, Vector3f.UNIT_Z); DIRECTION_Z.fromAxes(Vector3f.UNIT_X, Vector3f.UNIT_Y, Vector3f.UNIT_Z);
} }
protected float x, y, z, w; protected float x, y, z, w;
/** /**
@ -214,11 +211,12 @@ public final class Quaternion implements Savable, Cloneable {
* @return true if this Quaternion is {0,0,0,1} * @return true if this Quaternion is {0,0,0,1}
*/ */
public boolean isIdentity() { public boolean isIdentity() {
if (x == 0 && y == 0 && z == 0 && w == 1) if (x == 0 && y == 0 && z == 0 && w == 1) {
return true; return true;
else } else {
return false; return false;
} }
}
/** /**
* <code>fromAngles</code> builds a quaternion from the Euler rotation * <code>fromAngles</code> builds a quaternion from the Euler rotation
@ -228,9 +226,10 @@ public final class Quaternion implements Savable, Cloneable {
* the Euler angles of rotation (in radians). * the Euler angles of rotation (in radians).
*/ */
public Quaternion fromAngles(float[] angles) { public Quaternion fromAngles(float[] angles) {
if (angles.length != 3) if (angles.length != 3) {
throw new IllegalArgumentException( throw new IllegalArgumentException(
"Angles array must have three elements"); "Angles array must have three elements");
}
return fromAngles(angles[0], angles[1], angles[2]); return fromAngles(angles[0], angles[1], angles[2]);
} }
@ -290,10 +289,11 @@ public final class Quaternion implements Savable, Cloneable {
* @return the float[] in which the angles are stored. * @return the float[] in which the angles are stored.
*/ */
public float[] toAngles(float[] angles) { public float[] toAngles(float[] angles) {
if (angles == null) if (angles == null) {
angles = new float[3]; angles = new float[3];
else if (angles.length != 3) } else if (angles.length != 3) {
throw new IllegalArgumentException("Angles array must have three elements"); throw new IllegalArgumentException("Angles array must have three elements");
}
float sqw = w * w; float sqw = w * w;
float sqx = x * x; float sqx = x * x;
@ -344,31 +344,28 @@ public final class Quaternion implements Savable, Cloneable {
// we protect the division by s by ensuring that s>=1 // we protect the division by s by ensuring that s>=1
if (t >= 0) { // |w| >= .5 if (t >= 0) { // |w| >= .5
float s = FastMath.sqrt(t+1); // |s|>=1 ... float s = FastMath.sqrt(t + 1); // |s|>=1 ...
w = 0.5f * s; w = 0.5f * s;
s = 0.5f / s; // so this division isn't bad s = 0.5f / s; // so this division isn't bad
x = (m21 - m12) * s; x = (m21 - m12) * s;
y = (m02 - m20) * s; y = (m02 - m20) * s;
z = (m10 - m01) * s; z = (m10 - m01) * s;
} else if ((m00 > m11) && (m00 > m22)) { } else if ((m00 > m11) && (m00 > m22)) {
float s = FastMath float s = FastMath.sqrt(1.0f + m00 - m11 - m22); // |s|>=1
.sqrt(1.0f + m00 - m11 - m22); // |s|>=1
x = s * 0.5f; // |x| >= .5 x = s * 0.5f; // |x| >= .5
s = 0.5f / s; s = 0.5f / s;
y = (m10 + m01) * s; y = (m10 + m01) * s;
z = (m02 + m20) * s; z = (m02 + m20) * s;
w = (m21 - m12) * s; w = (m21 - m12) * s;
} else if (m11 > m22) { } else if (m11 > m22) {
float s = FastMath float s = FastMath.sqrt(1.0f + m11 - m00 - m22); // |s|>=1
.sqrt(1.0f + m11 - m00 - m22); // |s|>=1
y = s * 0.5f; // |y| >= .5 y = s * 0.5f; // |y| >= .5
s = 0.5f / s; s = 0.5f / s;
x = (m10 + m01) * s; x = (m10 + m01) * s;
z = (m21 + m12) * s; z = (m21 + m12) * s;
w = (m02 - m20) * s; w = (m02 - m20) * s;
} else { } else {
float s = FastMath float s = FastMath.sqrt(1.0f + m22 - m00 - m11); // |s|>=1
.sqrt(1.0f + m22 - m00 - m11); // |s|>=1
z = s * 0.5f; // |z| >= .5 z = s * 0.5f; // |z| >= .5
s = 0.5f / s; s = 0.5f / s;
x = (m02 + m20) * s; x = (m02 + m20) * s;
@ -403,7 +400,7 @@ public final class Quaternion implements Savable, Cloneable {
float norm = norm(); float norm = norm();
// we explicitly test norm against one here, saving a division // we explicitly test norm against one here, saving a division
// at the cost of a test and branch. Is it worth it? // at the cost of a test and branch. Is it worth it?
float s = (norm==1f) ? 2f : (norm > 0f) ? 2f/norm : 0; float s = (norm == 1f) ? 2f : (norm > 0f) ? 2f / norm : 0;
// compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs // compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs
// will be used 2-4 times each. // will be used 2-4 times each.
@ -421,15 +418,15 @@ public final class Quaternion implements Savable, Cloneable {
float zw = w * zs; float zw = w * zs;
// using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here // using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here
result.m00 = 1 - ( yy + zz ); result.m00 = 1 - (yy + zz);
result.m01 = ( xy - zw ); result.m01 = (xy - zw);
result.m02 = ( xz + yw ); result.m02 = (xz + yw);
result.m10 = ( xy + zw ); result.m10 = (xy + zw);
result.m11 = 1 - ( xx + zz ); result.m11 = 1 - (xx + zz);
result.m12 = ( yz - xw ); result.m12 = (yz - xw);
result.m20 = ( xz - yw ); result.m20 = (xz - yw);
result.m21 = ( yz + xw ); result.m21 = (yz + xw);
result.m22 = 1 - ( xx + yy ); result.m22 = 1 - (xx + yy);
return result; return result;
} }
@ -448,7 +445,7 @@ public final class Quaternion implements Savable, Cloneable {
float norm = norm(); float norm = norm();
// we explicitly test norm against one here, saving a division // we explicitly test norm against one here, saving a division
// at the cost of a test and branch. Is it worth it? // at the cost of a test and branch. Is it worth it?
float s = (norm==1f) ? 2f : (norm > 0f) ? 2f/norm : 0; float s = (norm == 1f) ? 2f : (norm > 0f) ? 2f / norm : 0;
// compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs // compute xs/ys/zs first to save 6 multiplications, since xs/ys/zs
// will be used 2-4 times each. // will be used 2-4 times each.
@ -466,15 +463,15 @@ public final class Quaternion implements Savable, Cloneable {
float zw = w * zs; float zw = w * zs;
// using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here // using s=2/norm (instead of 1/norm) saves 9 multiplications by 2 here
result.m00 = 1 - ( yy + zz ); result.m00 = 1 - (yy + zz);
result.m01 = ( xy - zw ); result.m01 = (xy - zw);
result.m02 = ( xz + yw ); result.m02 = (xz + yw);
result.m10 = ( xy + zw ); result.m10 = (xy + zw);
result.m11 = 1 - ( xx + zz ); result.m11 = 1 - (xx + zz);
result.m12 = ( yz - xw ); result.m12 = (yz - xw);
result.m20 = ( xz - yw ); result.m20 = (xz - yw);
result.m21 = ( yz + xw ); result.m21 = (yz + xw);
result.m22 = 1 - ( xx + yy ); result.m22 = 1 - (xx + yy);
return result; return result;
} }
@ -505,8 +502,9 @@ public final class Quaternion implements Savable, Cloneable {
* @return the column specified by the index. * @return the column specified by the index.
*/ */
public Vector3f getRotationColumn(int i, Vector3f store) { public Vector3f getRotationColumn(int i, Vector3f store) {
if (store == null) if (store == null) {
store = new Vector3f(); store = new Vector3f();
}
float norm = norm(); float norm = norm();
if (norm != 1.0f) { if (norm != 1.0f) {
@ -525,19 +523,19 @@ public final class Quaternion implements Savable, Cloneable {
switch (i) { switch (i) {
case 0: case 0:
store.x = 1 - 2 * ( yy + zz ); store.x = 1 - 2 * (yy + zz);
store.y = 2 * ( xy + zw ); store.y = 2 * (xy + zw);
store.z = 2 * ( xz - yw ); store.z = 2 * (xz - yw);
break; break;
case 1: case 1:
store.x = 2 * ( xy - zw ); store.x = 2 * (xy - zw);
store.y = 1 - 2 * ( xx + zz ); store.y = 1 - 2 * (xx + zz);
store.z = 2 * ( yz + xw ); store.z = 2 * (yz + xw);
break; break;
case 2: case 2:
store.x = 2 * ( xz + yw ); store.x = 2 * (xz + yw);
store.y = 2 * ( yz - xw ); store.y = 2 * (yz - xw);
store.z = 1 - 2 * ( xx + yy ); store.z = 1 - 2 * (xx + yy);
break; break;
default: default:
logger.warning("Invalid column index."); logger.warning("Invalid column index.");
@ -733,6 +731,28 @@ public final class Quaternion implements Savable, Cloneable {
this.w = (scale0 * this.w) + (scale1 * q2.w); this.w = (scale0 * this.w) + (scale1 * q2.w);
} }
/**
* Sets the values of this quaternion to the nlerp from itself to q2 by blend.
* @param q2
* @param blend
*/
public void nlerp(Quaternion q2, float blend) {
float dot = dot(q2);
float blendI = 1.0f - blend;
if (dot < 0.0f) {
x = blendI * x - blend * q2.x;
y = blendI * y - blend * q2.y;
z = blendI * z - blend * q2.z;
w = blendI * w - blend * q2.w;
} else {
x = blendI * x + blend * q2.x;
y = blendI * y + blend * q2.y;
z = blendI * z + blend * q2.z;
w = blendI * w + blend * q2.w;
}
normalizeLocal();
}
/** /**
* <code>add</code> adds the values of this quaternion to those of the * <code>add</code> adds the values of this quaternion to those of the
* parameter quaternion. The result is returned as a new quaternion. * parameter quaternion. The result is returned as a new quaternion.
@ -818,8 +838,9 @@ public final class Quaternion implements Savable, Cloneable {
* @return the new quaternion. * @return the new quaternion.
*/ */
public Quaternion mult(Quaternion q, Quaternion res) { public Quaternion mult(Quaternion q, Quaternion res) {
if (res == null) if (res == null) {
res = new Quaternion(); res = new Quaternion();
}
float qw = q.w, qx = q.x, qy = q.y, qz = q.z; float qw = q.w, qx = q.x, qy = q.y, qz = q.z;
res.x = x * qw + y * qz - z * qy + w * qx; res.x = x * qw + y * qz - z * qy + w * qx;
res.y = -x * qz + y * qw + z * qx + w * qy; res.y = -x * qz + y * qw + z * qx + w * qy;
@ -859,9 +880,10 @@ public final class Quaternion implements Savable, Cloneable {
* coordinate system. * coordinate system.
*/ */
public Quaternion fromAxes(Vector3f[] axis) { public Quaternion fromAxes(Vector3f[] axis) {
if (axis.length != 3) if (axis.length != 3) {
throw new IllegalArgumentException( throw new IllegalArgumentException(
"Axis array must have three elements"); "Axis array must have three elements");
}
return fromAxes(axis[0], axis[1], axis[2]); return fromAxes(axis[0], axis[1], axis[2]);
} }
@ -991,8 +1013,9 @@ public final class Quaternion implements Savable, Cloneable {
* @return the result vector. * @return the result vector.
*/ */
public Vector3f mult(Vector3f v, Vector3f store) { public Vector3f mult(Vector3f v, Vector3f store) {
if (store == null) if (store == null) {
store = new Vector3f(); store = new Vector3f();
}
if (v.x == 0 && v.y == 0 && v.z == 0) { if (v.x == 0 && v.y == 0 && v.z == 0) {
store.set(0, 0, 0); store.set(0, 0, 0);
} else { } else {
@ -1077,7 +1100,7 @@ public final class Quaternion implements Savable, Cloneable {
/** /**
* <code>normalize</code> normalizes the current <code>Quaternion</code> * <code>normalize</code> normalizes the current <code>Quaternion</code>
*/ */
public void normalizeLocal(){ public void normalizeLocal() {
float n = FastMath.invSqrt(norm()); float n = FastMath.invSqrt(norm());
x *= n; x *= n;
y *= n; y *= n;
@ -1159,7 +1182,7 @@ public final class Quaternion implements Savable, Cloneable {
*/ */
@Override @Override
public boolean equals(Object o) { public boolean equals(Object o) {
if (!(o instanceof Quaternion) ) { if (!(o instanceof Quaternion)) {
return false; return false;
} }
@ -1168,10 +1191,18 @@ public final class Quaternion implements Savable, Cloneable {
} }
Quaternion comp = (Quaternion) o; Quaternion comp = (Quaternion) o;
if (Float.compare(x,comp.x) != 0) return false; if (Float.compare(x, comp.x) != 0) {
if (Float.compare(y,comp.y) != 0) return false; return false;
if (Float.compare(z,comp.z) != 0) return false; }
if (Float.compare(w,comp.w) != 0) return false; if (Float.compare(y, comp.y) != 0) {
return false;
}
if (Float.compare(z, comp.z) != 0) {
return false;
}
if (Float.compare(w, comp.w) != 0) {
return false;
}
return true; return true;
} }
@ -1243,13 +1274,13 @@ public final class Quaternion implements Savable, Cloneable {
* a vector indicating the local up direction. * a vector indicating the local up direction.
* (typically {0, 1, 0} in jME.) * (typically {0, 1, 0} in jME.)
*/ */
public void lookAt(Vector3f direction, Vector3f up ) { public void lookAt(Vector3f direction, Vector3f up) {
TempVars vars = TempVars.get(); TempVars vars = TempVars.get();
assert vars.lock(); assert vars.lock();
vars.vect3.set( direction ).normalizeLocal(); vars.vect3.set(direction).normalizeLocal();
vars.vect1.set( up ).crossLocal( direction ).normalizeLocal(); vars.vect1.set(up).crossLocal(direction).normalizeLocal();
vars.vect2.set( direction ).crossLocal( vars.vect1 ).normalizeLocal(); vars.vect2.set(direction).crossLocal(vars.vect1).normalizeLocal();
fromAxes( vars.vect1, vars.vect2, vars.vect3 ); fromAxes(vars.vect1, vars.vect2, vars.vect3);
assert vars.unlock(); assert vars.unlock();
} }
@ -1287,8 +1318,9 @@ public final class Quaternion implements Savable, Cloneable {
* direction of this Quaternion. * direction of this Quaternion.
*/ */
public Quaternion opposite(Quaternion store) { public Quaternion opposite(Quaternion store) {
if (store == null) if (store == null) {
store = new Quaternion(); store = new Quaternion();
}
Vector3f axis = new Vector3f(); Vector3f axis = new Vector3f();
float angle = toAngleAxis(axis); float angle = toAngleAxis(axis);
@ -1315,4 +1347,3 @@ public final class Quaternion implements Savable, Cloneable {
} }
} }
} }