38 lines
1.1 KiB
HLSL
38 lines
1.1 KiB
HLSL
#ifndef INTEGRATION_INCLUDE
|
|
#define INTEGRATION_INCLUDE
|
|
|
|
#include "Quaternion.cginc"
|
|
|
|
float4 IntegrateLinear(float4 position, float4 velocity, float dt)
|
|
{
|
|
return position + velocity * dt;
|
|
}
|
|
|
|
float4 DifferentiateLinear(float4 position, float4 prevPosition, float dt)
|
|
{
|
|
return (position - prevPosition) / dt;
|
|
}
|
|
|
|
quaternion AngularVelocityToSpinQuaternion(quaternion rotation, float4 angularVelocity, float dt)
|
|
{
|
|
quaternion delta = quaternion(angularVelocity.x,
|
|
angularVelocity.y,
|
|
angularVelocity.z, 0);
|
|
|
|
return quaternion(0.5f * qmul(delta,rotation) * dt);
|
|
}
|
|
|
|
quaternion IntegrateAngular(quaternion rotation, float4 angularVelocity, float dt)
|
|
{
|
|
rotation += AngularVelocityToSpinQuaternion(rotation,angularVelocity, dt);
|
|
return normalize(rotation);
|
|
}
|
|
|
|
float4 DifferentiateAngular(quaternion rotation, quaternion prevRotation, float dt)
|
|
{
|
|
quaternion deltaq = qmul(rotation, q_conj(prevRotation));
|
|
float s = deltaq.w >= 0 ? 1 : -1;
|
|
return float4(s * deltaq.xyz * 2.0f / dt, 0);
|
|
}
|
|
|
|
#endif |