Code-style consistency improvement:
Apply clang-format-all.sh using the _clang-format file through all the cpp/.h files. make sure not to apply it to certain serialization structures, since some parser expects the * as part of the name, instead of type. This commit contains no other changes aside from adding and applying clang-format-all.sh
This commit is contained in:
erwincoumans
@@ -5,9 +5,8 @@
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// Copyright (c) 2011 Apple Inc., Inc.
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//
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#include "LinearMath/btScalar.h"
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#if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
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#if defined(BT_USE_SSE_IN_API) || defined(BT_USE_NEON)
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#include "Test_quat_aos_neon.h"
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#include "vector.h"
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@@ -16,584 +15,574 @@
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#include "../vectormath/vmInclude.h"
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//typedef Vectormath::Aos::Vector3 vmVector3;
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//typedef Vectormath::Aos::Quat vmQuat;
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//typedef Vectormath::Aos::Matrix3 vmMatrix3;
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//typedef Vectormath::Aos::Transform3 vmTransform3;
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//typedef Vectormath::Aos::Point3 vmPoint3;
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typedef Vectormath::Aos::Vector4 vmVector4;
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typedef Vectormath::Aos::Vector4 vmVector4;
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// reference code for testing purposes
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ATTRIBUTE_ALIGNED16(class) Quat_ref
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ATTRIBUTE_ALIGNED16(class)
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Quat_ref
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{
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float mX;
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float mY;
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float mZ;
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float mW;
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float mX;
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float mY;
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float mZ;
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float mW;
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public:
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// Default constructor; does no initialization
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//
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inline Quat_ref( ) { };
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// Copy a quaternion
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//
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inline Quat_ref( const Quat_ref & quat );
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// Construct a quaternion from x, y, z, and w elements
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//
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inline Quat_ref( float x, float y, float z, float w );
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// Construct a quaternion from a 3-D vector and a scalar
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//
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inline Quat_ref( const vmVector3 & xyz, float w );
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// Copy elements from a 4-D vector into a quaternion
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//
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explicit inline Quat_ref( const vmVector4 & vec );
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// Convert a rotation matrix to a unit-length quaternion
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//
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explicit inline Quat_ref( const vmMatrix3 & rotMat );
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// Set all elements of a quaternion to the same scalar value
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//
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explicit inline Quat_ref( float scalar );
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// Assign one quaternion to another
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//
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inline Quat_ref & operator =( const Quat_ref & quat );
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// Set the x, y, and z elements of a quaternion
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// NOTE:
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// This function does not change the w element.
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//
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inline Quat_ref & setXYZ( const vmVector3 & vec );
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// Get the x, y, and z elements of a quaternion
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//
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inline const vmVector3 getXYZ( ) const;
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// Set the x element of a quaternion
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//
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inline Quat_ref & setX( float x );
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// Set the y element of a quaternion
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//
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inline Quat_ref & setY( float y );
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// Set the z element of a quaternion
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//
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inline Quat_ref & setZ( float z );
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// Set the w element of a quaternion
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//
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inline Quat_ref & setW( float w );
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// Get the x element of a quaternion
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//
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inline float getX( ) const;
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// Get the y element of a quaternion
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//
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inline float getY( ) const;
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// Get the z element of a quaternion
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//
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inline float getZ( ) const;
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// Get the w element of a quaternion
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//
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inline float getW( ) const;
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// Set an x, y, z, or w element of a quaternion by index
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//
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inline Quat_ref & setElem( int idx, float value );
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// Get an x, y, z, or w element of a quaternion by index
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//
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inline float getElem( int idx ) const;
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// Subscripting operator to set or get an element
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//
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inline float & operator []( int idx );
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// Subscripting operator to get an element
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//
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inline float operator []( int idx ) const;
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// Add two quaternions
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//
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inline const Quat_ref operator +( const Quat_ref & quat ) const;
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// Subtract a quaternion from another quaternion
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//
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inline const Quat_ref operator -( const Quat_ref & quat ) const;
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// Multiply two quaternions
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//
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inline const Quat_ref operator *( const Quat_ref & quat ) const;
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// Multiply a quaternion by a scalar
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//
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inline const Quat_ref operator *( float scalar ) const;
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// Divide a quaternion by a scalar
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//
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inline const Quat_ref operator /( float scalar ) const;
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// Perform compound assignment and addition with a quaternion
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//
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inline Quat_ref & operator +=( const Quat_ref & quat );
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// Perform compound assignment and subtraction by a quaternion
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//
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inline Quat_ref & operator -=( const Quat_ref & quat );
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// Perform compound assignment and multiplication by a quaternion
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//
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inline Quat_ref & operator *=( const Quat_ref & quat );
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// Perform compound assignment and multiplication by a scalar
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//
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inline Quat_ref & operator *=( float scalar );
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// Perform compound assignment and division by a scalar
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//
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inline Quat_ref & operator /=( float scalar );
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// Negate all elements of a quaternion
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//
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inline const Quat_ref operator -( ) const;
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// Construct an identity quaternion
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//
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static inline const Quat_ref identity( );
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// Construct a quaternion to rotate between two unit-length 3-D vectors
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// NOTE:
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// The result is unpredictable if unitVec0 and unitVec1 point in opposite directions.
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//
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static inline const Quat_ref rotation( const vmVector3 & unitVec0, const vmVector3 & unitVec1 );
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// Construct a quaternion to rotate around a unit-length 3-D vector
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//
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static inline const Quat_ref rotation( float radians, const vmVector3 & unitVec );
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// Construct a quaternion to rotate around the x axis
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//
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static inline const Quat_ref rotationX( float radians );
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// Construct a quaternion to rotate around the y axis
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//
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static inline const Quat_ref rotationY( float radians );
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// Construct a quaternion to rotate around the z axis
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//
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static inline const Quat_ref rotationZ( float radians );
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// Default constructor; does no initialization
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//
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inline Quat_ref(){};
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// Copy a quaternion
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//
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inline Quat_ref(const Quat_ref &quat);
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// Construct a quaternion from x, y, z, and w elements
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//
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inline Quat_ref(float x, float y, float z, float w);
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// Construct a quaternion from a 3-D vector and a scalar
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//
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inline Quat_ref(const vmVector3 &xyz, float w);
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// Copy elements from a 4-D vector into a quaternion
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//
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explicit inline Quat_ref(const vmVector4 &vec);
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// Convert a rotation matrix to a unit-length quaternion
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//
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explicit inline Quat_ref(const vmMatrix3 &rotMat);
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// Set all elements of a quaternion to the same scalar value
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//
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explicit inline Quat_ref(float scalar);
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// Assign one quaternion to another
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//
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inline Quat_ref &operator=(const Quat_ref &quat);
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// Set the x, y, and z elements of a quaternion
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// NOTE:
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// This function does not change the w element.
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//
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inline Quat_ref &setXYZ(const vmVector3 &vec);
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// Get the x, y, and z elements of a quaternion
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//
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inline const vmVector3 getXYZ() const;
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// Set the x element of a quaternion
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//
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inline Quat_ref &setX(float x);
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// Set the y element of a quaternion
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//
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inline Quat_ref &setY(float y);
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// Set the z element of a quaternion
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//
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inline Quat_ref &setZ(float z);
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// Set the w element of a quaternion
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//
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inline Quat_ref &setW(float w);
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// Get the x element of a quaternion
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//
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inline float getX() const;
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// Get the y element of a quaternion
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//
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inline float getY() const;
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// Get the z element of a quaternion
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//
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inline float getZ() const;
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// Get the w element of a quaternion
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//
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inline float getW() const;
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// Set an x, y, z, or w element of a quaternion by index
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//
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inline Quat_ref &setElem(int idx, float value);
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// Get an x, y, z, or w element of a quaternion by index
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//
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inline float getElem(int idx) const;
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// Subscripting operator to set or get an element
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//
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inline float &operator[](int idx);
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// Subscripting operator to get an element
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//
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inline float operator[](int idx) const;
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// Add two quaternions
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//
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inline const Quat_ref operator+(const Quat_ref &quat) const;
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// Subtract a quaternion from another quaternion
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//
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inline const Quat_ref operator-(const Quat_ref &quat) const;
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// Multiply two quaternions
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//
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inline const Quat_ref operator*(const Quat_ref &quat) const;
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// Multiply a quaternion by a scalar
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//
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inline const Quat_ref operator*(float scalar) const;
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// Divide a quaternion by a scalar
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//
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inline const Quat_ref operator/(float scalar) const;
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// Perform compound assignment and addition with a quaternion
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//
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inline Quat_ref &operator+=(const Quat_ref &quat);
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// Perform compound assignment and subtraction by a quaternion
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//
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inline Quat_ref &operator-=(const Quat_ref &quat);
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// Perform compound assignment and multiplication by a quaternion
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//
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inline Quat_ref &operator*=(const Quat_ref &quat);
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// Perform compound assignment and multiplication by a scalar
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//
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inline Quat_ref &operator*=(float scalar);
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// Perform compound assignment and division by a scalar
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//
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inline Quat_ref &operator/=(float scalar);
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// Negate all elements of a quaternion
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//
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inline const Quat_ref operator-() const;
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// Construct an identity quaternion
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//
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static inline const Quat_ref identity();
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// Construct a quaternion to rotate between two unit-length 3-D vectors
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// NOTE:
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// The result is unpredictable if unitVec0 and unitVec1 point in opposite directions.
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//
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static inline const Quat_ref rotation(const vmVector3 &unitVec0, const vmVector3 &unitVec1);
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// Construct a quaternion to rotate around a unit-length 3-D vector
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//
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static inline const Quat_ref rotation(float radians, const vmVector3 &unitVec);
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// Construct a quaternion to rotate around the x axis
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//
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static inline const Quat_ref rotationX(float radians);
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// Construct a quaternion to rotate around the y axis
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//
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static inline const Quat_ref rotationY(float radians);
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// Construct a quaternion to rotate around the z axis
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//
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static inline const Quat_ref rotationZ(float radians);
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};
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inline Quat_ref::Quat_ref( const Quat_ref & quat )
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inline Quat_ref::Quat_ref(const Quat_ref &quat)
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{
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mX = quat.mX;
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mY = quat.mY;
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mZ = quat.mZ;
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mW = quat.mW;
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mX = quat.mX;
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mY = quat.mY;
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mZ = quat.mZ;
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mW = quat.mW;
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}
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inline Quat_ref::Quat_ref( float _x, float _y, float _z, float _w )
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inline Quat_ref::Quat_ref(float _x, float _y, float _z, float _w)
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{
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mX = _x;
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mY = _y;
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mZ = _z;
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mW = _w;
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mX = _x;
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mY = _y;
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mZ = _z;
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mW = _w;
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}
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inline Quat_ref::Quat_ref( const vmVector3 & xyz, float _w )
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inline Quat_ref::Quat_ref(const vmVector3 &xyz, float _w)
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{
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this->setXYZ( xyz );
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this->setW( _w );
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this->setXYZ(xyz);
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this->setW(_w);
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}
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inline Quat_ref::Quat_ref( const vmVector4 & vec )
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inline Quat_ref::Quat_ref(const vmVector4 &vec)
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{
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mX = vec.getX();
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mY = vec.getY();
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mZ = vec.getZ();
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mW = vec.getW();
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mX = vec.getX();
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mY = vec.getY();
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mZ = vec.getZ();
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mW = vec.getW();
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}
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inline Quat_ref::Quat_ref( float scalar )
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inline Quat_ref::Quat_ref(float scalar)
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{
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mX = scalar;
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mY = scalar;
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mZ = scalar;
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mW = scalar;
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mX = scalar;
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mY = scalar;
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mZ = scalar;
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mW = scalar;
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}
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inline const Quat_ref Quat_ref::identity( )
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inline const Quat_ref Quat_ref::identity()
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{
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return Quat_ref( 0.0f, 0.0f, 0.0f, 1.0f );
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return Quat_ref(0.0f, 0.0f, 0.0f, 1.0f);
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}
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inline void loadXYZW_ref( Quat_ref & quat, const float * fptr )
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inline void loadXYZW_ref(Quat_ref &quat, const float *fptr)
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{
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quat = Quat_ref( fptr[0], fptr[1], fptr[2], fptr[3] );
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quat = Quat_ref(fptr[0], fptr[1], fptr[2], fptr[3]);
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}
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inline void storeXYZW_ref( const Quat_ref & quat, float * fptr )
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inline void storeXYZW_ref(const Quat_ref &quat, float *fptr)
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{
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fptr[0] = quat.getX();
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fptr[1] = quat.getY();
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fptr[2] = quat.getZ();
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fptr[3] = quat.getW();
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fptr[0] = quat.getX();
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fptr[1] = quat.getY();
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fptr[2] = quat.getZ();
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fptr[3] = quat.getW();
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}
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inline Quat_ref & Quat_ref::operator =( const Quat_ref & quat )
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inline Quat_ref &Quat_ref::operator=(const Quat_ref &quat)
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{
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mX = quat.mX;
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mY = quat.mY;
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mZ = quat.mZ;
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mW = quat.mW;
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return *this;
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mX = quat.mX;
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mY = quat.mY;
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mZ = quat.mZ;
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mW = quat.mW;
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return *this;
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}
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inline Quat_ref & Quat_ref::setXYZ( const vmVector3 & vec )
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inline Quat_ref &Quat_ref::setXYZ(const vmVector3 &vec)
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{
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mX = vec.getX();
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||||
mY = vec.getY();
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mZ = vec.getZ();
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||||
return *this;
|
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mX = vec.getX();
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||||
mY = vec.getY();
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mZ = vec.getZ();
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return *this;
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}
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inline const vmVector3 Quat_ref::getXYZ( ) const
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inline const vmVector3 Quat_ref::getXYZ() const
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{
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return vmVector3( mX, mY, mZ );
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return vmVector3(mX, mY, mZ);
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}
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inline Quat_ref & Quat_ref::setX( float _x )
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inline Quat_ref &Quat_ref::setX(float _x)
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||||
{
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mX = _x;
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return *this;
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||||
mX = _x;
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||||
return *this;
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||||
}
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||||
|
||||
inline float Quat_ref::getX( ) const
|
||||
inline float Quat_ref::getX() const
|
||||
{
|
||||
return mX;
|
||||
return mX;
|
||||
}
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||||
|
||||
inline Quat_ref & Quat_ref::setY( float _y )
|
||||
inline Quat_ref &Quat_ref::setY(float _y)
|
||||
{
|
||||
mY = _y;
|
||||
return *this;
|
||||
mY = _y;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat_ref::getY( ) const
|
||||
inline float Quat_ref::getY() const
|
||||
{
|
||||
return mY;
|
||||
return mY;
|
||||
}
|
||||
|
||||
inline Quat_ref & Quat_ref::setZ( float _z )
|
||||
inline Quat_ref &Quat_ref::setZ(float _z)
|
||||
{
|
||||
mZ = _z;
|
||||
return *this;
|
||||
mZ = _z;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat_ref::getZ( ) const
|
||||
inline float Quat_ref::getZ() const
|
||||
{
|
||||
return mZ;
|
||||
return mZ;
|
||||
}
|
||||
|
||||
inline Quat_ref & Quat_ref::setW( float _w )
|
||||
inline Quat_ref &Quat_ref::setW(float _w)
|
||||
{
|
||||
mW = _w;
|
||||
return *this;
|
||||
mW = _w;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat_ref::getW( ) const
|
||||
inline float Quat_ref::getW() const
|
||||
{
|
||||
return mW;
|
||||
return mW;
|
||||
}
|
||||
|
||||
inline Quat_ref & Quat_ref::setElem( int idx, float value )
|
||||
inline Quat_ref &Quat_ref::setElem(int idx, float value)
|
||||
{
|
||||
*(&mX + idx) = value;
|
||||
return *this;
|
||||
*(&mX + idx) = value;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat_ref::getElem( int idx ) const
|
||||
inline float Quat_ref::getElem(int idx) const
|
||||
{
|
||||
return *(&mX + idx);
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline float & Quat_ref::operator []( int idx )
|
||||
inline float &Quat_ref::operator[](int idx)
|
||||
{
|
||||
return *(&mX + idx);
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline float Quat_ref::operator []( int idx ) const
|
||||
inline float Quat_ref::operator[](int idx) const
|
||||
{
|
||||
return *(&mX + idx);
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::operator +( const Quat_ref & quat ) const
|
||||
inline const Quat_ref Quat_ref::operator+(const Quat_ref &quat) const
|
||||
{
|
||||
return Quat_ref(
|
||||
( mX + quat.mX ),
|
||||
( mY + quat.mY ),
|
||||
( mZ + quat.mZ ),
|
||||
( mW + quat.mW )
|
||||
);
|
||||
return Quat_ref(
|
||||
(mX + quat.mX),
|
||||
(mY + quat.mY),
|
||||
(mZ + quat.mZ),
|
||||
(mW + quat.mW));
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::operator -( const Quat_ref & quat ) const
|
||||
inline const Quat_ref Quat_ref::operator-(const Quat_ref &quat) const
|
||||
{
|
||||
return Quat_ref(
|
||||
( mX - quat.mX ),
|
||||
( mY - quat.mY ),
|
||||
( mZ - quat.mZ ),
|
||||
( mW - quat.mW )
|
||||
);
|
||||
return Quat_ref(
|
||||
(mX - quat.mX),
|
||||
(mY - quat.mY),
|
||||
(mZ - quat.mZ),
|
||||
(mW - quat.mW));
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::operator *( float scalar ) const
|
||||
inline const Quat_ref Quat_ref::operator*(float scalar) const
|
||||
{
|
||||
return Quat_ref(
|
||||
( mX * scalar ),
|
||||
( mY * scalar ),
|
||||
( mZ * scalar ),
|
||||
( mW * scalar )
|
||||
);
|
||||
return Quat_ref(
|
||||
(mX * scalar),
|
||||
(mY * scalar),
|
||||
(mZ * scalar),
|
||||
(mW * scalar));
|
||||
}
|
||||
|
||||
inline Quat_ref & Quat_ref::operator +=( const Quat_ref & quat )
|
||||
inline Quat_ref &Quat_ref::operator+=(const Quat_ref &quat)
|
||||
{
|
||||
*this = *this + quat;
|
||||
return *this;
|
||||
*this = *this + quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat_ref & Quat_ref::operator -=( const Quat_ref & quat )
|
||||
inline Quat_ref &Quat_ref::operator-=(const Quat_ref &quat)
|
||||
{
|
||||
*this = *this - quat;
|
||||
return *this;
|
||||
*this = *this - quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat_ref & Quat_ref::operator *=( float scalar )
|
||||
inline Quat_ref &Quat_ref::operator*=(float scalar)
|
||||
{
|
||||
*this = *this * scalar;
|
||||
return *this;
|
||||
*this = *this * scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::operator /( float scalar ) const
|
||||
inline const Quat_ref Quat_ref::operator/(float scalar) const
|
||||
{
|
||||
return Quat_ref(
|
||||
( mX / scalar ),
|
||||
( mY / scalar ),
|
||||
( mZ / scalar ),
|
||||
( mW / scalar )
|
||||
);
|
||||
return Quat_ref(
|
||||
(mX / scalar),
|
||||
(mY / scalar),
|
||||
(mZ / scalar),
|
||||
(mW / scalar));
|
||||
}
|
||||
|
||||
inline Quat_ref & Quat_ref::operator /=( float scalar )
|
||||
inline Quat_ref &Quat_ref::operator/=(float scalar)
|
||||
{
|
||||
*this = *this / scalar;
|
||||
return *this;
|
||||
*this = *this / scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::operator -( ) const
|
||||
inline const Quat_ref Quat_ref::operator-() const
|
||||
{
|
||||
return Quat_ref(
|
||||
-mX,
|
||||
-mY,
|
||||
-mZ,
|
||||
-mW
|
||||
);
|
||||
return Quat_ref(
|
||||
-mX,
|
||||
-mY,
|
||||
-mZ,
|
||||
-mW);
|
||||
}
|
||||
|
||||
inline const Quat_ref operator *( float scalar, const Quat_ref & quat )
|
||||
inline const Quat_ref operator*(float scalar, const Quat_ref &quat)
|
||||
{
|
||||
return quat * scalar;
|
||||
return quat * scalar;
|
||||
}
|
||||
|
||||
inline float dot( const Quat_ref & quat0, const Quat_ref & quat1 )
|
||||
inline float dot(const Quat_ref &quat0, const Quat_ref &quat1)
|
||||
{
|
||||
float result;
|
||||
result = ( quat0.getX() * quat1.getX() );
|
||||
result = ( result + ( quat0.getY() * quat1.getY() ) );
|
||||
result = ( result + ( quat0.getZ() * quat1.getZ() ) );
|
||||
result = ( result + ( quat0.getW() * quat1.getW() ) );
|
||||
return result;
|
||||
float result;
|
||||
result = (quat0.getX() * quat1.getX());
|
||||
result = (result + (quat0.getY() * quat1.getY()));
|
||||
result = (result + (quat0.getZ() * quat1.getZ()));
|
||||
result = (result + (quat0.getW() * quat1.getW()));
|
||||
return result;
|
||||
}
|
||||
|
||||
inline const Quat_ref lerp( float t, const Quat_ref & quat0, const Quat_ref & quat1 )
|
||||
inline const Quat_ref lerp(float t, const Quat_ref &quat0, const Quat_ref &quat1)
|
||||
{
|
||||
return ( quat0 + ( ( quat1 - quat0 ) * t ) );
|
||||
return (quat0 + ((quat1 - quat0) * t));
|
||||
}
|
||||
|
||||
inline const Quat_ref slerp( float t, const Quat_ref & unitQuat0, const Quat_ref & unitQuat1 )
|
||||
inline const Quat_ref slerp(float t, const Quat_ref &unitQuat0, const Quat_ref &unitQuat1)
|
||||
{
|
||||
Quat_ref start;
|
||||
float recipSinAngle, scale0, scale1, cosAngle, angle;
|
||||
cosAngle = dot( unitQuat0, unitQuat1 );
|
||||
if ( cosAngle < 0.0f ) {
|
||||
cosAngle = -cosAngle;
|
||||
start = ( -unitQuat0 );
|
||||
} else {
|
||||
start = unitQuat0;
|
||||
}
|
||||
if ( cosAngle < _VECTORMATH_SLERP_TOL ) {
|
||||
angle = acosf( cosAngle );
|
||||
recipSinAngle = ( 1.0f / sinf( angle ) );
|
||||
scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle );
|
||||
scale1 = ( sinf( ( t * angle ) ) * recipSinAngle );
|
||||
} else {
|
||||
scale0 = ( 1.0f - t );
|
||||
scale1 = t;
|
||||
}
|
||||
return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) );
|
||||
Quat_ref start;
|
||||
float recipSinAngle, scale0, scale1, cosAngle, angle;
|
||||
cosAngle = dot(unitQuat0, unitQuat1);
|
||||
if (cosAngle < 0.0f)
|
||||
{
|
||||
cosAngle = -cosAngle;
|
||||
start = (-unitQuat0);
|
||||
}
|
||||
else
|
||||
{
|
||||
start = unitQuat0;
|
||||
}
|
||||
if (cosAngle < _VECTORMATH_SLERP_TOL)
|
||||
{
|
||||
angle = acosf(cosAngle);
|
||||
recipSinAngle = (1.0f / sinf(angle));
|
||||
scale0 = (sinf(((1.0f - t) * angle)) * recipSinAngle);
|
||||
scale1 = (sinf((t * angle)) * recipSinAngle);
|
||||
}
|
||||
else
|
||||
{
|
||||
scale0 = (1.0f - t);
|
||||
scale1 = t;
|
||||
}
|
||||
return ((start * scale0) + (unitQuat1 * scale1));
|
||||
}
|
||||
|
||||
inline const Quat_ref squad( float t, const Quat_ref & unitQuat0, const Quat_ref & unitQuat1, const Quat_ref & unitQuat2, const Quat_ref & unitQuat3 )
|
||||
inline const Quat_ref squad(float t, const Quat_ref &unitQuat0, const Quat_ref &unitQuat1, const Quat_ref &unitQuat2, const Quat_ref &unitQuat3)
|
||||
{
|
||||
Quat_ref tmp0, tmp1;
|
||||
tmp0 = slerp( t, unitQuat0, unitQuat3 );
|
||||
tmp1 = slerp( t, unitQuat1, unitQuat2 );
|
||||
return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 );
|
||||
Quat_ref tmp0, tmp1;
|
||||
tmp0 = slerp(t, unitQuat0, unitQuat3);
|
||||
tmp1 = slerp(t, unitQuat1, unitQuat2);
|
||||
return slerp(((2.0f * t) * (1.0f - t)), tmp0, tmp1);
|
||||
}
|
||||
|
||||
inline float norm( const Quat_ref & quat )
|
||||
inline float norm(const Quat_ref &quat)
|
||||
{
|
||||
float result;
|
||||
result = ( quat.getX() * quat.getX() );
|
||||
result = ( result + ( quat.getY() * quat.getY() ) );
|
||||
result = ( result + ( quat.getZ() * quat.getZ() ) );
|
||||
result = ( result + ( quat.getW() * quat.getW() ) );
|
||||
return result;
|
||||
float result;
|
||||
result = (quat.getX() * quat.getX());
|
||||
result = (result + (quat.getY() * quat.getY()));
|
||||
result = (result + (quat.getZ() * quat.getZ()));
|
||||
result = (result + (quat.getW() * quat.getW()));
|
||||
return result;
|
||||
}
|
||||
|
||||
inline float length( const Quat_ref & quat )
|
||||
inline float length(const Quat_ref &quat)
|
||||
{
|
||||
return ::sqrtf( norm( quat ) );
|
||||
return ::sqrtf(norm(quat));
|
||||
}
|
||||
|
||||
inline const Quat_ref normalize( const Quat_ref & quat )
|
||||
inline const Quat_ref normalize(const Quat_ref &quat)
|
||||
{
|
||||
float lenSqr, lenInv;
|
||||
lenSqr = norm( quat );
|
||||
lenInv = ( 1.0f / sqrtf( lenSqr ) );
|
||||
return Quat_ref(
|
||||
( quat.getX() * lenInv ),
|
||||
( quat.getY() * lenInv ),
|
||||
( quat.getZ() * lenInv ),
|
||||
( quat.getW() * lenInv )
|
||||
);
|
||||
float lenSqr, lenInv;
|
||||
lenSqr = norm(quat);
|
||||
lenInv = (1.0f / sqrtf(lenSqr));
|
||||
return Quat_ref(
|
||||
(quat.getX() * lenInv),
|
||||
(quat.getY() * lenInv),
|
||||
(quat.getZ() * lenInv),
|
||||
(quat.getW() * lenInv));
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::rotation( const vmVector3 & unitVec0, const vmVector3 & unitVec1 )
|
||||
inline const Quat_ref Quat_ref::rotation(const vmVector3 &unitVec0, const vmVector3 &unitVec1)
|
||||
{
|
||||
float cosHalfAngleX2, recipCosHalfAngleX2;
|
||||
cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) );
|
||||
recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 );
|
||||
return Quat_ref( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) );
|
||||
float cosHalfAngleX2, recipCosHalfAngleX2;
|
||||
cosHalfAngleX2 = sqrtf((2.0f * (1.0f + dot(unitVec0, unitVec1))));
|
||||
recipCosHalfAngleX2 = (1.0f / cosHalfAngleX2);
|
||||
return Quat_ref((cross(unitVec0, unitVec1) * recipCosHalfAngleX2), (cosHalfAngleX2 * 0.5f));
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::rotation( float radians, const vmVector3 & unitVec )
|
||||
inline const Quat_ref Quat_ref::rotation(float radians, const vmVector3 &unitVec)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat_ref( ( unitVec * s ), c );
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat_ref((unitVec * s), c);
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::rotationX( float radians )
|
||||
inline const Quat_ref Quat_ref::rotationX(float radians)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat_ref( s, 0.0f, 0.0f, c );
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat_ref(s, 0.0f, 0.0f, c);
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::rotationY( float radians )
|
||||
inline const Quat_ref Quat_ref::rotationY(float radians)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat_ref( 0.0f, s, 0.0f, c );
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat_ref(0.0f, s, 0.0f, c);
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::rotationZ( float radians )
|
||||
inline const Quat_ref Quat_ref::rotationZ(float radians)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat_ref( 0.0f, 0.0f, s, c );
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat_ref(0.0f, 0.0f, s, c);
|
||||
}
|
||||
|
||||
inline const Quat_ref Quat_ref::operator *( const Quat_ref & quat ) const
|
||||
inline const Quat_ref Quat_ref::operator*(const Quat_ref &quat) const
|
||||
{
|
||||
return Quat_ref(
|
||||
( ( ( ( mW * quat.mX ) + ( mX * quat.mW ) ) + ( mY * quat.mZ ) ) - ( mZ * quat.mY ) ),
|
||||
( ( ( ( mW * quat.mY ) + ( mY * quat.mW ) ) + ( mZ * quat.mX ) ) - ( mX * quat.mZ ) ),
|
||||
( ( ( ( mW * quat.mZ ) + ( mZ * quat.mW ) ) + ( mX * quat.mY ) ) - ( mY * quat.mX ) ),
|
||||
( ( ( ( mW * quat.mW ) - ( mX * quat.mX ) ) - ( mY * quat.mY ) ) - ( mZ * quat.mZ ) )
|
||||
);
|
||||
return Quat_ref(
|
||||
((((mW * quat.mX) + (mX * quat.mW)) + (mY * quat.mZ)) - (mZ * quat.mY)),
|
||||
((((mW * quat.mY) + (mY * quat.mW)) + (mZ * quat.mX)) - (mX * quat.mZ)),
|
||||
((((mW * quat.mZ) + (mZ * quat.mW)) + (mX * quat.mY)) - (mY * quat.mX)),
|
||||
((((mW * quat.mW) - (mX * quat.mX)) - (mY * quat.mY)) - (mZ * quat.mZ)));
|
||||
}
|
||||
|
||||
inline Quat_ref & Quat_ref::operator *=( const Quat_ref & quat )
|
||||
inline Quat_ref &Quat_ref::operator*=(const Quat_ref &quat)
|
||||
{
|
||||
*this = *this * quat;
|
||||
return *this;
|
||||
*this = *this * quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const vmVector3 rotate( const Quat_ref & quat, const vmVector3 & vec )
|
||||
inline const vmVector3 rotate(const Quat_ref &quat, const vmVector3 &vec)
|
||||
{
|
||||
float tmpX, tmpY, tmpZ, tmpW;
|
||||
tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) );
|
||||
tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) );
|
||||
tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) );
|
||||
tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) );
|
||||
return vmVector3(
|
||||
( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ),
|
||||
( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ),
|
||||
( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) )
|
||||
);
|
||||
float tmpX, tmpY, tmpZ, tmpW;
|
||||
tmpX = (((quat.getW() * vec.getX()) + (quat.getY() * vec.getZ())) - (quat.getZ() * vec.getY()));
|
||||
tmpY = (((quat.getW() * vec.getY()) + (quat.getZ() * vec.getX())) - (quat.getX() * vec.getZ()));
|
||||
tmpZ = (((quat.getW() * vec.getZ()) + (quat.getX() * vec.getY())) - (quat.getY() * vec.getX()));
|
||||
tmpW = (((quat.getX() * vec.getX()) + (quat.getY() * vec.getY())) + (quat.getZ() * vec.getZ()));
|
||||
return vmVector3(
|
||||
((((tmpW * quat.getX()) + (tmpX * quat.getW())) - (tmpY * quat.getZ())) + (tmpZ * quat.getY())),
|
||||
((((tmpW * quat.getY()) + (tmpY * quat.getW())) - (tmpZ * quat.getX())) + (tmpX * quat.getZ())),
|
||||
((((tmpW * quat.getZ()) + (tmpZ * quat.getW())) - (tmpX * quat.getY())) + (tmpY * quat.getX())));
|
||||
}
|
||||
|
||||
inline const Quat_ref conj( const Quat_ref & quat )
|
||||
inline const Quat_ref conj(const Quat_ref &quat)
|
||||
{
|
||||
return Quat_ref( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() );
|
||||
return Quat_ref(-quat.getX(), -quat.getY(), -quat.getZ(), quat.getW());
|
||||
}
|
||||
|
||||
inline const Quat_ref select( const Quat_ref & quat0, const Quat_ref & quat1, bool select1 )
|
||||
inline const Quat_ref select(const Quat_ref &quat0, const Quat_ref &quat1, bool select1)
|
||||
{
|
||||
return Quat_ref(
|
||||
( select1 )? quat1.getX() : quat0.getX(),
|
||||
( select1 )? quat1.getY() : quat0.getY(),
|
||||
( select1 )? quat1.getZ() : quat0.getZ(),
|
||||
( select1 )? quat1.getW() : quat0.getW()
|
||||
);
|
||||
return Quat_ref(
|
||||
(select1) ? quat1.getX() : quat0.getX(),
|
||||
(select1) ? quat1.getY() : quat0.getY(),
|
||||
(select1) ? quat1.getZ() : quat0.getZ(),
|
||||
(select1) ? quat1.getW() : quat0.getW());
|
||||
}
|
||||
|
||||
|
||||
|
||||
#define LOOPCOUNT 1000
|
||||
#define NUM_CYCLES 10000
|
||||
#define DATA_SIZE 1024
|
||||
|
||||
int Test_quat_aos_neon(void)
|
||||
{
|
||||
|
||||
return 0;
|
||||
return 0;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
Reference in New Issue
Block a user