ellipsoid/QuaternionEngine
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ADD: quaternion based rotation

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This commit is contained in:
hydrogendeuteride
2025-11-30 01:24:28 +09:00
parent d09a79d47c
commit 637a83bf6f
6 changed files with 76 additions and 44 deletions
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36
src/core/types.h
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@@ -24,6 +24,37 @@
#include <glm/gtc/quaternion.hpp>
#include <glm/gtc/matrix_transform.hpp>
// Helper utilities for TRS (translation-rotation-scale) transforms using quaternions.
inline glm::mat4 make_trs_matrix(const glm::vec3 &translation,
const glm::quat &rotation,
const glm::vec3 &scale)
{
glm::mat4 tm = glm::translate(glm::mat4(1.0f), translation);
glm::mat4 rm = glm::mat4_cast(rotation);
glm::mat4 sm = glm::scale(glm::mat4(1.0f), scale);
return tm * rm * sm;
}
inline void decompose_trs_matrix(const glm::mat4 &m,
glm::vec3 &out_translation,
glm::quat &out_rotation,
glm::vec3 &out_scale)
{
out_translation = glm::vec3(m[3]);
glm::vec3 col0 = glm::vec3(m[0]);
glm::vec3 col1 = glm::vec3(m[1]);
glm::vec3 col2 = glm::vec3(m[2]);
out_scale = glm::vec3(glm::length(col0), glm::length(col1), glm::length(col2));
if (out_scale.x != 0.0f) col0 /= out_scale.x;
if (out_scale.y != 0.0f) col1 /= out_scale.y;
if (out_scale.z != 0.0f) col2 /= out_scale.z;
glm::mat3 rot_mat(col0, col1, col2);
out_rotation = glm::quat_cast(rot_mat);
}
#define VK_CHECK(x) \
do { \
@@ -169,10 +200,7 @@ struct Node : public IRenderable {
void updateLocalFromTRS()
{
glm::mat4 tm = glm::translate(glm::mat4(1.0f), translation);
glm::mat4 rm = glm::mat4_cast(rotation);
glm::mat4 sm = glm::scale(glm::mat4(1.0f), scale);
localTransform = tm * rm * sm;
localTransform = make_trs_matrix(translation, rotation, scale);
}
void setTRS(const glm::vec3 &t, const glm::quat &r, const glm::vec3 &s)