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allowing ranges in slerp,nlerp and squad

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RonaldoCMP 2020-07-17 20:54:38 +01:00
parent e017c6075d
commit 34a589bdde
1 changed files with 7 additions and 4 deletions
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11
quaternions.scad
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@ -319,7 +319,7 @@ function Q_Dist(q1, q2) =
// #sphere(r=80); // #sphere(r=80);
function Q_Slerp(q1, q2, u, _dot) = function Q_Slerp(q1, q2, u, _dot) =
is_undef(_dot) is_undef(_dot)
? assert(is_num(u) || is_num(0*u*u), "Invalid interpolation coefficient(s)") ? assert(is_num(u) || is_range(u) || is_num(0*u*u), "Invalid interpolation coefficient(s)")
assert(Q_is_quat(q1) && Q_is_quat(q2), "Invalid quaternion(s)" ) assert(Q_is_quat(q1) && Q_is_quat(q2), "Invalid quaternion(s)" )
let( let(
_dot = q1*q2, _dot = q1*q2,
@ -522,7 +522,6 @@ function Q_Rotation_path(q1, n=1, q2) =
? [for( i=0, dR=Q_Matrix4(q1), R=dR; i<=n; i=i+1, R=dR*R ) R] ? [for( i=0, dR=Q_Matrix4(q1), R=dR; i<=n; i=i+1, R=dR*R ) R]
: let( q2 = Q_Normalize( q1*q2<0 ? -q2: q2 ) ) : let( q2 = Q_Normalize( q1*q2<0 ? -q2: q2 ) )
let( dq = Q_pow( Q_Mul( q2, Q_Inverse(q1) ), 1/n ), let( dq = Q_pow( Q_Mul( q2, Q_Inverse(q1) ), 1/n ),
// let( dq = Q_Mul( Q_Slerp(q1,q2, 1/n ), Q_Inverse(q1) ),
dR = Q_Matrix4(dq) ) dR = Q_Matrix4(dq) )
[for( i=0, R=Q_Matrix4(q1); i<=n; i=i+1, R=dR*R ) R]; [for( i=0, R=Q_Matrix4(q1); i<=n; i=i+1, R=dR*R ) R];
@ -562,7 +561,7 @@ module Q_Rotation_path(q1, n=1, q2) {
function Q_Nlerp(q1,q2,u) = function Q_Nlerp(q1,q2,u) =
assert(Q_is_quat(q1) && Q_is_quat(q2), "Invalid quaternion(s)" ) assert(Q_is_quat(q1) && Q_is_quat(q2), "Invalid quaternion(s)" )
assert( ! approx(norm(q1+q2),0), "Quaternions cannot be opposed" ) assert( ! approx(norm(q1+q2),0), "Quaternions cannot be opposed" )
assert(is_num(0*u) || (is_list(u) && is_num(0*u*u)) , assert(is_num(0*u) || is_range(u) || (is_list(u) && is_num(0*u*u)) ,
"Invalid interpolation coefficient(s)" ) "Invalid interpolation coefficient(s)" )
let( q1 = Q_Normalize(q1), let( q1 = Q_Normalize(q1),
q2 = Q_Normalize(q2) ) q2 = Q_Normalize(q2) )
@ -611,7 +610,11 @@ function Q_Nlerp(q1,q2,u) =
// Qrot(q) right(80) cube([10,10,1]); // Qrot(q) right(80) cube([10,10,1]);
// #sphere(r=80); // #sphere(r=80);
function Q_Squad(q1,q2,q3,q4,u) = function Q_Squad(q1,q2,q3,q4,u) =
Q_Slerp( Q_Slerp(q1,q4,u), Q_Slerp(q2,q3,u), 2*u*(1-u)); assert(is_num(0*u) || is_range(u) || (is_list(u) && is_num(0*u*u)) ,
"Invalid interpolation coefficient(s)" )
is_num(u)
? Q_Slerp( Q_Slerp(q1,q4,u), Q_Slerp(q2,q3,u), 2*u*(1-u))
: Q_Slerp( Q_Slerp(q1,q4,u), Q_Slerp(q2,q3,u), [for(ui=u) 2*ui*(1-ui)]);
// Function: Q_exp() // Function: Q_exp()