如果在glsl中，通过四元数旋转一个顶点？

最新推荐文章于 2024-07-26 14:07:16 发布

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最新推荐文章于 2024-07-26 14:07:16 发布

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分类专栏： OpenGL 算法文章标签：数学

本文链接：https://blog.csdn.net/siwen0/article/details/120250370

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原文：How to Rotate a Vertex by a Quaternion in GLSL (*Updated*) | Geeks3DIn a vertex shader, the rotation and position are usually encoded in the model matrix and we have something like this: vec4 worldPos = ModelMatrix * InPosition; Here is another method to transform the position of a vertex, using a quaternion to hold the rotation information. Quaternions are a fantastic mathematics tool discovered by Sir William Rowan Hamilton in 1843. We’re not going to review … Continue reading How to Rotate a Vertex by a Quaternion in GLSL (*Updated*) »https://www.geeks3d.com/20141201/how-to-rotate-a-vertex-by-a-quaternion-in-glsl/

实例：

#version 150
in vec4 gxl3d_Position;
in vec4 gxl3d_TexCoord0;
in vec4 gxl3d_Color;
out vec4 Vertex_UV;
out vec4 Vertex_Color;
uniform mat4 gxl3d_ViewProjectionMatrix;

struct Transform
{
  vec4 position;
  vec4 axis_angle;
};
uniform Transform T;


vec4 quat_from_axis_angle(vec3 axis, float angle)
{ 
  vec4 qr;
  float half_angle = (angle * 0.5) * 3.14159 / 180.0;
  qr.x = axis.x * sin(half_angle);
  qr.y = axis.y * sin(half_angle);
  qr.z = axis.z * sin(half_angle);
  qr.w = cos(half_angle);
  return qr;
}

vec4 quat_conj(vec4 q)
{ 
  return vec4(-q.x, -q.y, -q.z, q.w); 
}
  
vec4 quat_mult(vec4 q1, vec4 q2)
{ 
  vec4 qr;
  qr.x = (q1.w * q2.x) + (q1.x * q2.w) + (q1.y * q2.z) - (q1.z * q2.y);
  qr.y = (q1.w * q2.y) - (q1.x * q2.z) + (q1.y * q2.w) + (q1.z * q2.x);
  qr.z = (q1.w * q2.z) + (q1.x * q2.y) - (q1.y * q2.x) + (q1.z * q2.w);
  qr.w = (q1.w * q2.w) - (q1.x * q2.x) - (q1.y * q2.y) - (q1.z * q2.z);
  return qr;
}

vec3 rotate_vertex_position(vec3 position, vec3 axis, float angle)
{ 
  vec4 qr = quat_from_axis_angle(axis, angle);
  vec4 qr_conj = quat_conj(qr);
  vec4 q_pos = vec4(position.x, position.y, position.z, 0);
  
  vec4 q_tmp = quat_mult(qr, q_pos);
  qr = quat_mult(q_tmp, qr_conj);
  
  return vec3(qr.x, qr.y, qr.z);
}

void main()
{
  vec3 P = rotate_vertex_position(gxl3d_Position.xyz, T.axis_angle.xyz, T.axis_angle.w);
  P += T.position.xyz;
  gl_Position = gxl3d_ViewProjectionMatrix * vec4(P, 1);
  Vertex_UV = gxl3d_TexCoord0;
  Vertex_Color = gxl3d_Color;
}