Finished slerp implementation, next is NLerp

HandmadeMath.h

@@ -233,7 +233,7 @@ extern "C"
 
 #define HMM_MIN(a, b) (a) > (b) ? (b) : (a)
 #define HMM_MAX(a, b) (a) < (b) ? (b) : (a)
-#define HMN_ABS(a) (a) < 0 ? -(a) : (a)
+#define HMM_ABS(a) ((a) > 0 ? (a) : -(a))
 #define HMM_MOD(a, m) ((a) % (m)) >= 0 ? ((a) % (m)) : (((a) % (m)) + (m))
 #define HMM_SQUARE(x) ((x) * (x))
 
@@ -387,7 +387,10 @@ typedef hmm_mat4 hmm_m4;
 
 HMMDEF float HMM_SinF(float Angle);
 HMMDEF float HMM_TanF(float Angle);
+HMMDEF float HMM_ATanF(float Theta);
+HMMDEF float HMM_ATanF2(float Theta, float Theta2);
 HMMDEF float HMM_CosF(float Angle);
+HMMDEF float HMM_ACosF(float Theta);
 HMMDEF float HMM_ExpF(float Float);
 HMMDEF float HMM_LogF(float Float);
 
@@ -607,6 +610,15 @@ HMM_SinF(float Angle)
     return (Result);
 }
 
+HINLINE float
+HMM_ACosF(float Theta)
+{
+    float Result = 0.0f;
+    float Theta2 = HMM_SquareRootF((1.0f + Theta) * (1.0f - Theta));
+    Result = HMM_ATanF2(Theta2, Theta);
+    return(Result);
+}
+
 HINLINE float
 HMM_CosF(float Angle)
 {
@@ -625,6 +637,36 @@ HMM_TanF(float Radians)
     return (Result);
 }
 
+HINLINE float
+HMM_ATanF(float Theta)
+{
+    float u = Theta*Theta;
+    float u2 = u*u;
+    float u3 = u2*u;
+    float u4 = u3*u;
+    float f = 1.0f + 0.33288950512027f*u - 0.08467922817644f*u2 + 0.03252232640125f*u3 - 0.00749305860992f*u4;
+    return Theta / f;
+}
+
+HINLINE float
+HMM_ATanF2(float Theta, float Theta2)
+{
+    if (HMM_ABS(Theta2) > HMM_ABS(Theta)) {
+        float a = HMM_ATanF(Theta / Theta2);
+        if (Theta2 > 0.0f)
+            return a;
+        else
+            return Theta > 0.0f ? a + HMM_PI : a - HMM_PI;
+    }
+    else {
+        float a = HMM_ATanF(Theta2 / Theta);
+        if (Theta2 > 0.0f)
+            return Theta > 0.0f ? (HMM_PI/2) - a : - (HMM_PI/2) - a;
+        else 
+            return Theta > 0.0f ? (HMM_PI/2) + a : - (HMM_PI/2) + a;
+    }
+}
+
 HINLINE float
 HMM_ExpF(float Float)
 {
@@ -1536,14 +1578,42 @@ HMM_DotQuat(hmm_quaternion QuaternionOne, hmm_quaternion QuaternionTwo)
     return(Result);
 }
 
-/**HMM_Slerp(hmm_quaternion QuaternionOne, hmm_quaternion QuaternionTwo, float time)
+HINLINE hmm_quaternion
+HMM_Slerp(hmm_quaternion QuaternionOne, hmm_quaternion QuaternionTwo, float time)
 {
     hmm_quaternion Result = {0};
+    hmm_quaternion QuaternionLeft = {0};
+    hmm_quaternion QuaternionRight = {0};
 
-    float Theta = HMM_DotQuat(QuaternionOne, QuaternionTwo);
+    float Cos_Theta = HMM_DotQuat(QuaternionOne, QuaternionTwo);
+    float angle = HMM_ACosF(Cos_Theta);
+    
+    float s1 = HMM_SinF(1.0f - time*angle);
+    float s2 = HMM_SinF(time*angle);
+    float is = 1.0f / HMM_SinF(angle);
+
+   QuaternionLeft.X = QuaternionTwo.X * s1;
+   QuaternionLeft.Y = QuaternionTwo.Y * s1;
+   QuaternionLeft.Z = QuaternionTwo.Z * s1;
+   QuaternionLeft.W = QuaternionTwo.W * s1;
+
+   QuaternionRight.X = QuaternionTwo.X * s2;
+   QuaternionRight.Y = QuaternionTwo.Y * s2;
+   QuaternionRight.Z = QuaternionTwo.Z * s2;
+   QuaternionRight.W = QuaternionTwo.W * s2;
+
+   Result.X = QuaternionLeft.X + QuaternionRight.X;
+   Result.Y = QuaternionLeft.Y + QuaternionRight.Y;
+   Result.Z = QuaternionLeft.Z + QuaternionRight.Z;
+   Result.W = QuaternionLeft.W + QuaternionRight.W;
+
+   Result.X = Result.X * is;
+   Result.Y = Result.Y * is;
+   Result.Z = Result.Z * is;
+   Result.W = Result.W * is;
 
     return(Result);
-}**/
+}
 
 #ifdef HANDMADE_MATH_CPP_MODE
 

test/HandmadeMath.cpp

@@ -2,90 +2,25 @@
 #define HANDMADE_MATH_IMPLEMENTATION
 #define HANDMADE_MATH_CPP_MODE
 #define HANDMADE_MATH_NO_INLINE
+#define GB_MATH_IMPLEMENTATION
 #include "../HandmadeMath.h"
-
+#include "../gb_math.h"
-#ifndef gb_abs
-#define gb_abs(x) ((x) > 0 ? (x) : -(x))
-#endif
-
-#define GB_MATH_TAU_OVER_2   3.14159265358979323846264338327950288f
-#define GB_MATH_TAU_OVER_4   1.570796326794896619231321691639751442f
-#define GB_MATH_TAU_OVER_8   0.785398163397448309615660845819875721f
-
-static float gb_arctan(float a);
-static float gb_arctan2(float y, float x);
-
-float gb_arccos(float a) { return gb_arctan2(HMM_SquareRootF((1.0f + a) * (1.0 - a)), a); }
-
-float
-gb_arctan(float a)
-{
-	float u = a*a;
-	float u2 = u*u;
-	float u3 = u2*u;
-	float u4 = u3*u;
-	float f = 1.0f + 0.33288950512027f*u - 0.08467922817644f*u2 + 0.03252232640125f*u3 - 0.00749305860992f*u4;
-	return a / f;
-}
-
-float
-gb_arctan2(float y, float x)
-{
-	if (gb_abs(x) > gb_abs(y)) {
-		float a = gb_arctan(y / x);
-		if (x > 0.0f)
-			return a;
-		else
-			return y > 0.0f ? a + GB_MATH_TAU_OVER_2 : a - GB_MATH_TAU_OVER_2;
-	}
-	else {
-		float a = gb_arctan(x / y);
-		if (x > 0.0f)
-			return y > 0.0f ? GB_MATH_TAU_OVER_4 - a : -GB_MATH_TAU_OVER_4 - a;
-		else
-			return y > 0.0f ? GB_MATH_TAU_OVER_4 + a : -GB_MATH_TAU_OVER_4 + a;
-	}
-}
 
 int main() {
 
-	hmm_quaternion q1 = { 0,1,0 };
+	hmm_quaternion q1 = { 1,0,0,0 };
-	hmm_quaternion q2 = { 0,0,0 };
+	hmm_quaternion q2 = { 0,1,0,0 };
-	hmm_quaternion Result = { 0 };
+
+	gbQuat q3 = { 1,0,0,0 };
+	gbQuat q4 = { 0,1,0,0 };
+	gbQuat result2 = { 0 };
+
 	float time = 0.5f;
 
-	hmm_quaternion x, y, z;
+	hmm_quaternion Result = HMM_Slerp(q1, q2, time);
-	float cos_theta, angle;
+	gb_quat_slerp(&result2, q3, q4, time);
-	float s1, s2, is;
 
-	z = q2;
-	cos_theta = HMM_DotQuat(q1, q2);
 
-	angle = gb_arccos(cos_theta);
-
-	s1 = HMM_SinF(1.0f - time*angle);
-	s2 = HMM_SinF(time*angle);
-	is = 1.0f / HMM_SinF(angle);
-
-	x.X = z.X * s1;
-	x.Y = z.Y * s1;
-	x.Z = z.Z * s1;
-	x.W = z.W * s1;
-
-	y.X = z.X * s2;
-	y.Y = z.Y * s2;
-	y.Z = z.Z * s2;
-	y.W = z.W * s2;
-
-	Result.X = x.X + y.X;
-	Result.Y = x.Y + y.Y;
-	Result.Z = x.Z + y.Z;
-	Result.W = x.W + y.W;
-
-	Result.X = Result.X * is;
-	Result.Y = Result.Y * is;
-	Result.Z = Result.Z * is;
-	Result.W = Result.W * is;
 
 return 0;
 }

test/build.bat

@@ -1 +0,0 @@
-cl -Zi HandmadeMath.cpp