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Add nlerp for quaternions

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Normalized linear interpolation for quaterions are a cheaper
alternative to slerp.  This PR adds nlerp operaiton for quaternions.
This commit is contained in:
Sundaram Ramaswamy
2021-05-06 23:38:26 +05:30
parent d5d3178ae0
commit d6b93f052e
1 changed files with 24 additions and 0 deletions
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24
include/cglm/quat.h
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@@ -38,6 +38,7 @@
CGLM_INLINE void glm_quat_lerp(versor from, versor to, float t, versor dest); CGLM_INLINE void glm_quat_lerp(versor from, versor to, float t, versor dest);
CGLM_INLINE void glm_quat_lerpc(versor from, versor to, float t, versor dest); CGLM_INLINE void glm_quat_lerpc(versor from, versor to, float t, versor dest);
CGLM_INLINE void glm_quat_slerp(versor q, versor r, float t, versor dest); CGLM_INLINE void glm_quat_slerp(versor q, versor r, float t, versor dest);
CGLM_INLINE void glm_quat_nlerp(versor q, versor r, float t, versor dest);
CGLM_INLINE void glm_quat_look(vec3 eye, versor ori, mat4 dest); CGLM_INLINE void glm_quat_look(vec3 eye, versor ori, mat4 dest);
CGLM_INLINE void glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest); CGLM_INLINE void glm_quat_for(vec3 dir, vec3 fwd, vec3 up, versor dest);
CGLM_INLINE void glm_quat_forp(vec3 from, CGLM_INLINE void glm_quat_forp(vec3 from,
@@ -628,6 +629,29 @@ glm_quat_lerpc(versor from, versor to, float t, versor dest) {
glm_vec4_lerpc(from, to, t, dest); glm_vec4_lerpc(from, to, t, dest);
} }
/*!
* @brief interpolates between two quaternions
* taking the shortest rotation path using
* normalized linear interpolation (NLERP)
*
* @param[in] from from
* @param[in] to to
* @param[in] t interpolant (amount)
* @param[out] dest result quaternion
*/
CGLM_INLINE
void
glm_quat_nlerp(versor from, versor to, float t, versor dest) {
float dot = glm_vec4_dot(from, to);
versor target;
if (dot >= 0)
glm_quat_copy(to, target);
else
glm_vec4_negate_to(to, target);
glm_quat_lerp(from, target, t, dest);
glm_quat_normalize(dest);
}
/*! /*!
* @brief interpolates between two quaternions * @brief interpolates between two quaternions
* using spherical linear interpolation (SLERP) * using spherical linear interpolation (SLERP)