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Update setFromMat4 and add tests #6720

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Jun 19, 2024
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Update setFromMat4 and add tests #6720

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0ce1b2a
update setFromMat4 and add tests
slimbuck Jun 19, 2024
c68bff2
update tests
slimbuck Jun 19, 2024
7048c6d
update tests
slimbuck Jun 19, 2024
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lint
slimbuck Jun 19, 2024
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slimbuck Jun 19, 2024
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159 changes: 67 additions & 92 deletions src/core/math/quat.js
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Original file line number Diff line number Diff line change
Expand Up @@ -288,6 +288,21 @@ class Quat {
return this;
}

/**
* Multiplies each element of a quaternion by a number.
*
* @param {number} scalar - The number to multiply by.
* @param {Quat} [src] - The quaternion to scale. If not set, the operation is done in place.
* @returns {Quat} Self for chaining.
*/
mulScalar(scalar, src = this) {
this.x = src.x * scalar;
this.y = src.y * scalar;
this.z = src.z * scalar;
this.w = src.w * scalar;
return this;
}

/**
* Returns the result of multiplying the specified quaternions together.
*
Expand Down Expand Up @@ -461,103 +476,63 @@ class Quat {
* const q = new pc.Quat().setFromMat4(rot);
*/
setFromMat4(m) {
let m00, m01, m02, m10, m11, m12, m20, m21, m22,
s, rs, lx, ly, lz;

m = m.data;

// Cache matrix values for super-speed
m00 = m[0];
m01 = m[1];
m02 = m[2];
m10 = m[4];
m11 = m[5];
m12 = m[6];
m20 = m[8];
m21 = m[9];
m22 = m[10];

// Remove the scale from the matrix
lx = m00 * m00 + m01 * m01 + m02 * m02;
if (lx === 0)
return this;
lx = 1 / Math.sqrt(lx);
ly = m10 * m10 + m11 * m11 + m12 * m12;
if (ly === 0)
return this;
ly = 1 / Math.sqrt(ly);
lz = m20 * m20 + m21 * m21 + m22 * m22;
if (lz === 0)
return this;
lz = 1 / Math.sqrt(lz);

m00 *= lx;
m01 *= lx;
m02 *= lx;
m10 *= ly;
m11 *= ly;
m12 *= ly;
m20 *= lz;
m21 *= lz;
m22 *= lz;

// http://www.cs.ucr.edu/~vbz/resources/quatut.pdf

const tr = m00 + m11 + m22;
if (tr >= 0) {
s = Math.sqrt(tr + 1);
this.w = s * 0.5;
s = 0.5 / s;
this.x = (m12 - m21) * s;
this.y = (m20 - m02) * s;
this.z = (m01 - m10) * s;
} else {
const d = m.data;

let m00 = d[0];
let m01 = d[1];
let m02 = d[2];
let m10 = d[4];
let m11 = d[5];
let m12 = d[6];
let m20 = d[8];
let m21 = d[9];
let m22 = d[10];

let l;

// remove scaling from axis vectors
l = m00 * m00 + m01 * m01 + m02 * m02;
if (l === 0) return this.set(0, 0, 0, 1);
l = 1 / Math.sqrt(l);
m00 *= l;
m01 *= l;
m02 *= l;

l = m10 * m10 + m11 * m11 + m12 * m12;
if (l === 0) return this.set(0, 0, 0, 1);
l = 1 / Math.sqrt(l);
m10 *= l;
m11 *= l;
m12 *= l;

l = m20 * m20 + m21 * m21 + m22 * m22;
if (l === 0) return this.set(0, 0, 0, 1);
l = 1 / Math.sqrt(l);
m20 *= l;
m21 *= l;
m22 *= l;

// https://d3cw3dd2w32x2b.cloudfront.net/wp-content/uploads/2015/01/matrix-to-quat.pdf

if (m22 < 0) {
if (m00 > m11) {
if (m00 > m22) {
// XDiagDomMatrix
rs = (m00 - (m11 + m22)) + 1;
rs = Math.sqrt(rs);

this.x = rs * 0.5;
rs = 0.5 / rs;
this.w = (m12 - m21) * rs;
this.y = (m01 + m10) * rs;
this.z = (m02 + m20) * rs;
} else {
// ZDiagDomMatrix
rs = (m22 - (m00 + m11)) + 1;
rs = Math.sqrt(rs);

this.z = rs * 0.5;
rs = 0.5 / rs;
this.w = (m01 - m10) * rs;
this.x = (m20 + m02) * rs;
this.y = (m21 + m12) * rs;
}
} else if (m11 > m22) {
// YDiagDomMatrix
rs = (m11 - (m22 + m00)) + 1;
rs = Math.sqrt(rs);

this.y = rs * 0.5;
rs = 0.5 / rs;
this.w = (m20 - m02) * rs;
this.z = (m12 + m21) * rs;
this.x = (m10 + m01) * rs;
this.set(1 + m00 - m11 - m22, m01 + m10, m20 + m02, m12 - m21);
} else {
// ZDiagDomMatrix
rs = (m22 - (m00 + m11)) + 1;
rs = Math.sqrt(rs);

this.z = rs * 0.5;
rs = 0.5 / rs;
this.w = (m01 - m10) * rs;
this.x = (m20 + m02) * rs;
this.y = (m21 + m12) * rs;
this.set(m01 + m10, 1 - m00 + m11 - m22, m12 + m21, m20 - m02);
}
} else {
if (m00 < -m11) {
this.set(m20 + m02, m12 + m21, 1 - m00 - m11 + m22, m01 - m10);
} else {
this.set(m12 - m21, m20 - m02, m01 - m10, 1 + m00 + m11 + m22);
}
}

return this;
// Instead of scaling by 0.5 / Math.sqrt(t) (to match the original implementation),
// instead we normalize the result. It costs 3 more adds and muls, but we get
// a stable result and in some cases normalization is required anyway, see
// https://github.com/blender/blender/blob/v4.1.1/source/blender/blenlib/intern/math_rotation.c#L368
return this.mulScalar(1.0 / this.length());
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}

/**
Expand Down
74 changes: 74 additions & 0 deletions test/core/math/quat.test.mjs
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Original file line number Diff line number Diff line change
Expand Up @@ -543,6 +543,32 @@ describe('Quat', function () {
expect(q.equals(Quat.IDENTITY)).to.be.true;
});

const nq = new Quat();
const q = new Quat();
const m = new Mat4();

const quatToMatToQuat = (w, x, y, z, epsilon = 1e-6) => {
nq.set(x, y, z, w).normalize();
m.setTRS(Vec3.ZERO, nq, Vec3.ONE);
q.setFromMat4(m);
const result =
(Math.abs(nq.x - q.x) < epsilon &&
Math.abs(nq.y - q.y) < epsilon &&
Math.abs(nq.z - q.z) < epsilon &&
Math.abs(nq.w - q.w) < epsilon) ||
(Math.abs(nq.x + q.x) < epsilon &&
Math.abs(nq.y + q.y) < epsilon &&
Math.abs(nq.z + q.z) < epsilon &&
Math.abs(nq.w + q.w) < epsilon);

if (!result) {
// helpful for debugging
console.log(`Failed Quat [${x}, ${y}, ${z}, ${w}] -> [${nq.x}, ${nq.y}, ${nq.z}, ${nq.w}] != [${q.x}, ${q.y}, ${q.z}, ${q.w}]`);
}

return result;
};

it('set the quaternion from a non-identity matrix', function () {
const q = new Quat();
const m = new Mat4();
Expand All @@ -554,6 +580,54 @@ describe('Quat', function () {
expect(eulers.z).to.be.closeTo(30, 0.00001);
});

it('converts rot180', function () {
expect(quatToMatToQuat(1, 0, 0, 0)).to.be.true;
expect(quatToMatToQuat(0, 1, 0, 0)).to.be.true;
expect(quatToMatToQuat(0, 0, 1, 0)).to.be.true;
expect(quatToMatToQuat(0, 0, 0, 1)).to.be.true;
});

it('converts rot180n', function () {
expect(quatToMatToQuat(-1, 0, 0, 0)).to.be.true;
expect(quatToMatToQuat(-1e-20, -1, 0, 0)).to.be.true;
expect(quatToMatToQuat(-1e-20, 0, -1, 0)).to.be.true;
expect(quatToMatToQuat(-1e-20, 0, 0, -1)).to.be.true;
});

const s2 = 1 / Math.sqrt(2);

it('converts rot90', function () {
expect(quatToMatToQuat(s2, s2, 0, 0)).to.be.true;
expect(quatToMatToQuat(s2, -s2, 0, 0)).to.be.true;
expect(quatToMatToQuat(s2, 0, s2, 0)).to.be.true;
expect(quatToMatToQuat(s2, 0, -s2, 0)).to.be.true;
expect(quatToMatToQuat(s2, 0, 0, s2)).to.be.true;
expect(quatToMatToQuat(s2, 0, 0, -s2)).to.be.true;
});

it('converts rot90n', function () {
expect(quatToMatToQuat(-s2, s2, 0, 0)).to.be.true;
expect(quatToMatToQuat(-s2, -s2, 0, 0)).to.be.true;
expect(quatToMatToQuat(-s2, 0, s2, 0)).to.be.true;
expect(quatToMatToQuat(-s2, 0, -s2, 0)).to.be.true;
expect(quatToMatToQuat(-s2, 0, 0, s2)).to.be.true;
expect(quatToMatToQuat(-s2, 0, 0, -s2)).to.be.true;
});

it('converts suit', function () {
const vals = [0.9999, -0.002, -0.999, 0.01, 0, 1];

vals.forEach((x) => {
vals.forEach((y) => {
vals.forEach((z) => {
vals.forEach((w) => {
expect(quatToMatToQuat(w, x, y, z)).to.be.true;
});
});
});
});
});

it('returns this', function () {
const q = new Quat();
const m = new Mat4();
Expand Down