initial commit, 4.5 stable

core/math/transform_interpolator.h

@@ -0,0 +1,92 @@
+/**************************************************************************/
+/*  transform_interpolator.h                                              */
+/**************************************************************************/
+/*                         This file is part of:                          */
+/*                             GODOT ENGINE                               */
+/*                        https://godotengine.org                         */
+/**************************************************************************/
+/* Copyright (c) 2014-present Godot Engine contributors (see AUTHORS.md). */
+/* Copyright (c) 2007-2014 Juan Linietsky, Ariel Manzur.                  */
+/*                                                                        */
+/* Permission is hereby granted, free of charge, to any person obtaining  */
+/* a copy of this software and associated documentation files (the        */
+/* "Software"), to deal in the Software without restriction, including    */
+/* without limitation the rights to use, copy, modify, merge, publish,    */
+/* distribute, sublicense, and/or sell copies of the Software, and to     */
+/* permit persons to whom the Software is furnished to do so, subject to  */
+/* the following conditions:                                              */
+/*                                                                        */
+/* The above copyright notice and this permission notice shall be         */
+/* included in all copies or substantial portions of the Software.        */
+/*                                                                        */
+/* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,        */
+/* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF     */
+/* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. */
+/* IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY   */
+/* CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,   */
+/* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE      */
+/* SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.                 */
+/**************************************************************************/
+
+#pragma once
+
+#include "core/math/math_defs.h"
+#include "core/math/vector3.h"
+
+// Keep all the functions for fixed timestep interpolation together.
+// There are two stages involved:
+// Finding a method, for determining the interpolation method between two
+// keyframes (which are physics ticks).
+// And applying that pre-determined method.
+
+// Pre-determining the method makes sense because it is expensive and often
+// several frames may occur between each physics tick, which will make it cheaper
+// than performing every frame.
+
+struct Transform2D;
+struct Transform3D;
+struct Basis;
+struct Quaternion;
+
+class TransformInterpolator {
+public:
+	enum Method {
+		INTERP_LERP,
+		INTERP_SLERP,
+		INTERP_SCALED_SLERP,
+	};
+
+private:
+	_FORCE_INLINE_ static bool _sign(real_t p_val) { return p_val >= 0; }
+	static real_t _vec3_sum(const Vector3 &p_pt) { return p_pt.x + p_pt.y + p_pt.z; }
+	static real_t _vec3_normalize(Vector3 &p_vec);
+	_FORCE_INLINE_ static bool _vec3_is_equal_approx(const Vector3 &p_a, const Vector3 &p_b, real_t p_tolerance) {
+		return Math::is_equal_approx(p_a.x, p_b.x, p_tolerance) && Math::is_equal_approx(p_a.y, p_b.y, p_tolerance) && Math::is_equal_approx(p_a.z, p_b.z, p_tolerance);
+	}
+	static Vector3 _basis_orthonormalize(Basis &r_basis);
+	static Method _test_basis(Basis p_basis, bool r_needed_normalize, Quaternion &r_quat);
+	static Basis _basis_slerp_unchecked(Basis p_from, Basis p_to, real_t p_fraction);
+	static Quaternion _quat_slerp_unchecked(const Quaternion &p_from, const Quaternion &p_to, real_t p_fraction);
+	static Quaternion _basis_to_quat_unchecked(const Basis &p_basis);
+	static bool _basis_is_orthogonal(const Basis &p_basis, real_t p_epsilon = 0.01f);
+	static bool _basis_is_orthogonal_any_scale(const Basis &p_basis);
+
+	static void interpolate_basis_linear(const Basis &p_prev, const Basis &p_curr, Basis &r_result, real_t p_fraction);
+	static void interpolate_basis_scaled_slerp(Basis p_prev, Basis p_curr, Basis &r_result, real_t p_fraction);
+
+public:
+	static void interpolate_transform_2d(const Transform2D &p_prev, const Transform2D &p_curr, Transform2D &r_result, real_t p_fraction);
+
+	// Generic functions, use when you don't know what method should be used, e.g. from GDScript.
+	// These will be slower.
+	static void interpolate_transform_3d(const Transform3D &p_prev, const Transform3D &p_curr, Transform3D &r_result, real_t p_fraction);
+	static void interpolate_basis(const Basis &p_prev, const Basis &p_curr, Basis &r_result, real_t p_fraction);
+
+	// Optimized function when you know ahead of time the method.
+	static void interpolate_transform_3d_via_method(const Transform3D &p_prev, const Transform3D &p_curr, Transform3D &r_result, real_t p_fraction, Method p_method);
+	static void interpolate_basis_via_method(const Basis &p_prev, const Basis &p_curr, Basis &r_result, real_t p_fraction, Method p_method);
+
+	static real_t checksum_transform_3d(const Transform3D &p_transform);
+
+	static Method find_method(const Basis &p_a, const Basis &p_b);
+};