From 781df861c9ccc2441c08568d79275dfed6de8c47 Mon Sep 17 00:00:00 2001 From: keptsecret Date: Tue, 2 Dec 2025 17:13:14 +0700 Subject: [PATCH] split out new quaternion hlsl stuff over from hlsl path tracer example --- .../nbl/builtin/hlsl/math/quaternions.hlsl | 305 ++++++++++++++++++ src/nbl/builtin/CMakeLists.txt | 1 + 2 files changed, 306 insertions(+) create mode 100644 include/nbl/builtin/hlsl/math/quaternions.hlsl diff --git a/include/nbl/builtin/hlsl/math/quaternions.hlsl b/include/nbl/builtin/hlsl/math/quaternions.hlsl new file mode 100644 index 0000000000..834d41cb54 --- /dev/null +++ b/include/nbl/builtin/hlsl/math/quaternions.hlsl @@ -0,0 +1,305 @@ +// Copyright (C) 2018-2025 - DevSH Graphics Programming Sp. z O.O. +// This file is part of the "Nabla Engine". +// For conditions of distribution and use, see copyright notice in nabla.h +#ifndef _NBL_BUILTIN_HLSL_MATH_QUATERNIONS_INCLUDED_ +#define _NBL_BUILTIN_HLSL_MATH_QUATERNIONS_INCLUDED_ + +#include "nbl/builtin/hlsl/cpp_compat.hlsl" +#include "nbl/builtin/hlsl/tgmath.hlsl" + +namespace nbl +{ +namespace hlsl +{ +namespace math +{ + +template +struct truncated_quaternion +{ + using this_t = truncated_quaternion; + using scalar_type = T; + using data_type = vector; + + static this_t create() + { + this_t q; + q.data = data_type(0.0, 0.0, 0.0); + return q; + } + + data_type data; +}; + +template +struct quaternion +{ + using this_t = quaternion; + using scalar_type = T; + using data_type = vector; + using vector3_type = vector; + using matrix_type = matrix; + + using AsUint = typename unsigned_integer_of_size::type; + + static this_t create() + { + this_t q; + q.data = data_type(0.0, 0.0, 0.0, 1.0); + return q; + } + + static this_t create(scalar_type x, scalar_type y, scalar_type z, scalar_type w) + { + this_t q; + q.data = data_type(x, y, z, w); + return q; + } + + static this_t create(NBL_CONST_REF_ARG(this_t) other) + { + return other; + } + + // angle: Rotation angle expressed in radians. + // axis: Rotation axis, must be normalized. + static this_t create(scalar_type angle, const vector3_type axis) + { + this_t q; + const scalar_type sinTheta = hlsl::sin(angle * 0.5); + const scalar_type cosTheta = hlsl::cos(angle * 0.5); + q.data = data_type(axis * sinTheta, cosTheta); + return q; + } + + + static this_t create(scalar_type pitch, scalar_type yaw, scalar_type roll) + { + const scalar_type rollDiv2 = roll * scalar_type(0.5); + const scalar_type sr = hlsl::sin(rollDiv2); + const scalar_type cr = hlsl::cos(rollDiv2); + + const scalar_type pitchDiv2 = pitch * scalar_type(0.5); + const scalar_type sp = hlsl::sin(pitchDiv2); + const scalar_type cp = hlsl::cos(pitchDiv2); + + const scalar_type yawDiv2 = yaw * scalar_type(0.5); + const scalar_type sy = hlsl::sin(yawDiv2); + const scalar_type cy = hlsl::cos(yawDiv2); + + this_t output; + output.data[0] = cr * sp * cy + sr * cp * sy; // x + output.data[1] = cr * cp * sy - sr * sp * cy; // y + output.data[2] = sr * cp * cy - cr * sp * sy; // z + output.data[3] = cr * cp * cy + sr * sp * sy; // w + + return output; + } + + static this_t create(NBL_CONST_REF_ARG(matrix_type) m) + { + const scalar_type m00 = m[0][0], m11 = m[1][1], m22 = m[2][2]; + const scalar_type neg_m00 = bit_cast(bit_cast(m00)^0x80000000u); + const scalar_type neg_m11 = bit_cast(bit_cast(m11)^0x80000000u); + const scalar_type neg_m22 = bit_cast(bit_cast(m22)^0x80000000u); + const data_type Qx = data_type(m00, m00, neg_m00, neg_m00); + const data_type Qy = data_type(m11, neg_m11, m11, neg_m11); + const data_type Qz = data_type(m22, neg_m22, neg_m22, m22); + + const data_type tmp = hlsl::promote(1.0) + Qx + Qy + Qz; + const data_type invscales = hlsl::promote(0.5) / hlsl::sqrt(tmp); + const data_type scales = tmp * invscales * hlsl::promote(0.5); + + // TODO: speed this up + this_t retval; + if (tmp.x > scalar_type(0.0)) + { + retval.data.x = (m[2][1] - m[1][2]) * invscales.x; + retval.data.y = (m[0][2] - m[2][0]) * invscales.x; + retval.data.z = (m[1][0] - m[0][1]) * invscales.x; + retval.data.w = scales.x; + } + else + { + if (tmp.y > scalar_type(0.0)) + { + retval.data.x = scales.y; + retval.data.y = (m[0][1] + m[1][0]) * invscales.y; + retval.data.z = (m[2][0] + m[0][2]) * invscales.y; + retval.data.w = (m[2][1] - m[1][2]) * invscales.y; + } + else if (tmp.z > scalar_type(0.0)) + { + retval.data.x = (m[0][1] + m[1][0]) * invscales.z; + retval.data.y = scales.z; + retval.data.z = (m[0][2] - m[2][0]) * invscales.z; + retval.data.w = (m[1][2] + m[2][1]) * invscales.z; + } + else + { + retval.data.x = (m[0][2] + m[2][0]) * invscales.w; + retval.data.y = (m[1][2] + m[2][1]) * invscales.w; + retval.data.z = scales.w; + retval.data.w = (m[1][0] - m[0][1]) * invscales.w; + } + } + + retval.data = hlsl::normalize(retval.data); + return retval; + } + + static this_t create(NBL_CONST_REF_ARG(truncated_quaternion) first3Components) + { + this_t retval; + retval.data.xyz = first3Components.data; + retval.data.w = hlsl::sqrt(scalar_type(1.0) - hlsl::dot(first3Components.data, first3Components.data)); + return retval; + } + + this_t operator*(scalar_type scalar) + { + this_t output; + output.data = data * scalar; + return output; + } + + this_t operator*(NBL_CONST_REF_ARG(this_t) other) + { + return this_t::create( + data.w * other.data.w - data.x * other.x - data.y * other.data.y - data.z * other.data.z, + data.w * other.data.x + data.x * other.w + data.y * other.data.z - data.z * other.data.y, + data.w * other.data.y - data.x * other.z + data.y * other.data.w + data.z * other.data.x, + data.w * other.data.z + data.x * other.y - data.y * other.data.x + data.z * other.data.w + ); + } + + static this_t lerp(const this_t start, const this_t end, const scalar_type fraction, const scalar_type totalPseudoAngle) + { + const AsUint negationMask = hlsl::bit_cast(totalPseudoAngle) & AsUint(0x80000000u); + const data_type adjEnd = hlsl::bit_cast(hlsl::bit_cast(end.data) ^ negationMask); + + this_t retval; + retval.data = hlsl::mix(start.data, adjEnd, fraction); + return retval; + } + + static this_t lerp(const this_t start, const this_t end, const scalar_type fraction) + { + return lerp(start, end, fraction, hlsl::dot(start.data, end.data)); + } + + static scalar_type __adj_interpolant(const scalar_type angle, const scalar_type fraction, const scalar_type interpolantPrecalcTerm2, const scalar_type interpolantPrecalcTerm3) + { + const scalar_type A = scalar_type(1.0904) + angle * (scalar_type(-3.2452) + angle * (scalar_type(3.55645) - angle * scalar_type(1.43519))); + const scalar_type B = scalar_type(0.848013) + angle * (scalar_type(-1.06021) + angle * scalar_type(0.215638)); + const scalar_type k = A * interpolantPrecalcTerm2 + B; + return fraction + interpolantPrecalcTerm3 * k; + } + + static this_t flerp(const this_t start, const this_t end, const scalar_type fraction) + { + const scalar_type pseudoAngle = hlsl::dot(start.data,end.data); + const scalar_type interpolantPrecalcTerm = fraction - scalar_type(0.5); + const scalar_type interpolantPrecalcTerm3 = fraction * interpolantPrecalcTerm * (fraction - scalar_type(1.0)); + const scalar_type adjFrac = __adj_interpolant(hlsl::abs(pseudoAngle),fraction,interpolantPrecalcTerm*interpolantPrecalcTerm,interpolantPrecalcTerm3); + + this_t retval = lerp(start,end,adjFrac,pseudoAngle); + retval.data = hlsl::normalize(retval.data); + return retval; + } + + vector3_type transformVector(const vector3_type v) + { + scalar_type scale = hlsl::length(data); + vector3_type direction = data.xyz; + return v * scale + hlsl::cross(direction, v * data.w + hlsl::cross(direction, v)) * scalar_type(2.0); + } + + matrix_type constructMatrix() + { + matrix_type mat; + mat[0] = data.yzx * data.ywz + data.zxy * data.zyw * vector3_type( 1.0, 1.0,-1.0); + mat[1] = data.yzx * data.xzw + data.zxy * data.wxz * vector3_type(-1.0, 1.0, 1.0); + mat[2] = data.yzx * data.wyx + data.zxy * data.xwy * vector3_type( 1.0,-1.0, 1.0); + mat[0][0] = scalar_type(0.5) - mat[0][0]; + mat[1][1] = scalar_type(0.5) - mat[1][1]; + mat[2][2] = scalar_type(0.5) - mat[2][2]; + mat *= scalar_type(2.0); + return hlsl::transpose(mat); // TODO: double check transpose? + } + + static vector3_type slerp_delta(const vector3_type start, const vector3_type preScaledWaypoint, scalar_type cosAngleFromStart) + { + vector3_type planeNormal = hlsl::cross(start,preScaledWaypoint); + + cosAngleFromStart *= scalar_type(0.5); + const scalar_type sinAngle = hlsl::sqrt(scalar_type(0.5) - cosAngleFromStart); + const scalar_type cosAngle = hlsl::sqrt(scalar_type(0.5) + cosAngleFromStart); + + planeNormal *= sinAngle; + const vector3_type precompPart = hlsl::cross(planeNormal, start) * scalar_type(2.0); + + return precompPart * cosAngle + hlsl::cross(planeNormal, precompPart); + } + + this_t inverse() + { + this_t retval; + retval.data.x = bit_cast(bit_cast(data.x)^0x80000000u); + retval.data.y = bit_cast(bit_cast(data.y)^0x80000000u); + retval.data.z = bit_cast(bit_cast(data.z)^0x80000000u); + retval.data.w = data.w; + return retval; + } + + static this_t normalize(NBL_CONST_REF_ARG(this_t) q) + { + this_t retval; + retval.data = hlsl::normalize(q.data); + return retval; + } + + data_type data; +}; + +} + +namespace impl +{ + +template +struct static_cast_helper, math::truncated_quaternion > +{ + static inline math::quaternion cast(math::truncated_quaternion q) + { + return math::quaternion::create(q); + } +}; + +template +struct static_cast_helper, math::quaternion > +{ + static inline math::truncated_quaternion cast(math::quaternion q) + { + math::truncated_quaternion t; + t.data.x = t.data.x; + t.data.y = t.data.y; + t.data.z = t.data.z; + return t; + } +}; + +template +struct static_cast_helper, math::quaternion > +{ + static inline matrix cast(math::quaternion q) + { + return q.constructMatrix(); + } +}; +} + +} +} + +#endif diff --git a/src/nbl/builtin/CMakeLists.txt b/src/nbl/builtin/CMakeLists.txt index e8798499f9..37c5d2e43e 100644 --- a/src/nbl/builtin/CMakeLists.txt +++ b/src/nbl/builtin/CMakeLists.txt @@ -225,6 +225,7 @@ LIST_BUILTIN_RESOURCE(NBL_RESOURCES_TO_EMBED "hlsl/math/geometry.hlsl") LIST_BUILTIN_RESOURCE(NBL_RESOURCES_TO_EMBED "hlsl/math/intutil.hlsl") LIST_BUILTIN_RESOURCE(NBL_RESOURCES_TO_EMBED "hlsl/math/polar.hlsl") LIST_BUILTIN_RESOURCE(NBL_RESOURCES_TO_EMBED "hlsl/math/angle_adding.hlsl") +LIST_BUILTIN_RESOURCE(NBL_RESOURCES_TO_EMBED "hlsl/math/quaternions.hlsl") LIST_BUILTIN_RESOURCE(NBL_RESOURCES_TO_EMBED "hlsl/math/equations/quadratic.hlsl") LIST_BUILTIN_RESOURCE(NBL_RESOURCES_TO_EMBED "hlsl/math/equations/cubic.hlsl") LIST_BUILTIN_RESOURCE(NBL_RESOURCES_TO_EMBED "hlsl/math/equations/quartic.hlsl")