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
@@ -25,389 +25,390 @@ subject to the following restrictions:
|
||||
|
||||
#endif
|
||||
|
||||
namespace Vectormath {
|
||||
namespace Aos {
|
||||
namespace Vectormath
|
||||
{
|
||||
namespace Aos
|
||||
{
|
||||
inline Quat::Quat(const Quat &quat)
|
||||
{
|
||||
vXYZW = quat.vXYZW;
|
||||
}
|
||||
|
||||
inline Quat::Quat( const Quat & quat )
|
||||
{
|
||||
vXYZW = quat.vXYZW;
|
||||
}
|
||||
|
||||
inline Quat::Quat( float _x, float _y, float _z, float _w )
|
||||
{
|
||||
mXYZW[0] = _x;
|
||||
mXYZW[1] = _y;
|
||||
mXYZW[2] = _z;
|
||||
mXYZW[3] = _w;
|
||||
}
|
||||
|
||||
inline Quat::Quat( float32x4_t fXYZW )
|
||||
{
|
||||
vXYZW = fXYZW;
|
||||
}
|
||||
|
||||
inline Quat::Quat( const Vector3 & xyz, float _w )
|
||||
{
|
||||
this->setXYZ( xyz );
|
||||
this->setW( _w );
|
||||
}
|
||||
|
||||
inline Quat::Quat( const Vector4 & vec )
|
||||
{
|
||||
mXYZW[0] = vec.getX();
|
||||
mXYZW[1] = vec.getY();
|
||||
mXYZW[2] = vec.getZ();
|
||||
mXYZW[3] = vec.getW();
|
||||
}
|
||||
|
||||
inline Quat::Quat( float scalar )
|
||||
{
|
||||
vXYZW = vdupq_n_f32(scalar);
|
||||
}
|
||||
|
||||
inline const Quat Quat::identity( )
|
||||
{
|
||||
return Quat( 0.0f, 0.0f, 0.0f, 1.0f );
|
||||
}
|
||||
|
||||
inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 )
|
||||
{
|
||||
return ( quat0 + ( ( quat1 - quat0 ) * t ) );
|
||||
}
|
||||
|
||||
inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 )
|
||||
{
|
||||
Quat 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 squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 )
|
||||
{
|
||||
Quat tmp0, tmp1;
|
||||
tmp0 = slerp( t, unitQuat0, unitQuat3 );
|
||||
tmp1 = slerp( t, unitQuat1, unitQuat2 );
|
||||
return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 );
|
||||
}
|
||||
|
||||
inline void loadXYZW( Quat & quat, const float * fptr )
|
||||
{
|
||||
quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] );
|
||||
}
|
||||
|
||||
inline void storeXYZW( const Quat & quat, float * fptr )
|
||||
{
|
||||
vst1q_f32(fptr, quat.getvXYZW());
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator =( const Quat & quat )
|
||||
{
|
||||
vXYZW = quat.getvXYZW();
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setXYZ( const Vector3 & vec )
|
||||
{
|
||||
mXYZW[0] = vec.getX();
|
||||
mXYZW[1] = vec.getY();
|
||||
mXYZW[2] = vec.getZ();
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 Quat::getXYZ( ) const
|
||||
{
|
||||
return Vector3( mXYZW[0], mXYZW[1], mXYZW[2] );
|
||||
}
|
||||
|
||||
inline float32x4_t Quat::getvXYZW( ) const
|
||||
{
|
||||
return vXYZW;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setX( float _x )
|
||||
{
|
||||
mXYZW[0] = _x;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getX( ) const
|
||||
{
|
||||
return mXYZW[0];
|
||||
}
|
||||
|
||||
inline Quat & Quat::setY( float _y )
|
||||
{
|
||||
mXYZW[1] = _y;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getY( ) const
|
||||
{
|
||||
return mXYZW[1];
|
||||
}
|
||||
|
||||
inline Quat & Quat::setZ( float _z )
|
||||
{
|
||||
mXYZW[2] = _z;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getZ( ) const
|
||||
{
|
||||
return mXYZW[2];
|
||||
}
|
||||
|
||||
inline Quat & Quat::setW( float _w )
|
||||
{
|
||||
mXYZW[3] = _w;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getW( ) const
|
||||
{
|
||||
return mXYZW[3];
|
||||
}
|
||||
|
||||
inline Quat & Quat::setElem( int idx, float value )
|
||||
{
|
||||
*(&mXYZW[0] + idx) = value;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getElem( int idx ) const
|
||||
{
|
||||
return *(&mXYZW[0] + idx);
|
||||
}
|
||||
|
||||
inline float & Quat::operator []( int idx )
|
||||
{
|
||||
return *(&mXYZW[0] + idx);
|
||||
}
|
||||
|
||||
inline float Quat::operator []( int idx ) const
|
||||
{
|
||||
return *(&mXYZW[0] + idx);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator +( const Quat & quat ) const
|
||||
{
|
||||
return Quat( vaddq_f32(vXYZW, quat.vXYZW) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( const Quat & quat ) const
|
||||
{
|
||||
return Quat( vsubq_f32(vXYZW, quat.vXYZW) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( float scalar ) const
|
||||
{
|
||||
float32x4_t v_scalar = vdupq_n_f32(scalar);
|
||||
return Quat( vmulq_f32(vXYZW, v_scalar) );
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator +=( const Quat & quat )
|
||||
{
|
||||
*this = *this + quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator -=( const Quat & quat )
|
||||
{
|
||||
*this = *this - quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( float scalar )
|
||||
{
|
||||
*this = *this * scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator /( float scalar ) const
|
||||
{
|
||||
return Quat(
|
||||
( mXYZW[0] / scalar ),
|
||||
( mXYZW[1] / scalar ),
|
||||
( mXYZW[2] / scalar ),
|
||||
( mXYZW[3] / scalar )
|
||||
);
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator /=( float scalar )
|
||||
{
|
||||
*this = *this / scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( ) const
|
||||
{
|
||||
return Quat( vnegq_f32(vXYZW) );
|
||||
}
|
||||
|
||||
inline const Quat operator *( float scalar, const Quat & quat )
|
||||
{
|
||||
return quat * scalar;
|
||||
}
|
||||
|
||||
inline float dot( const Quat & quat0, const Quat & 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;
|
||||
}
|
||||
|
||||
inline float norm( const Quat & 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;
|
||||
}
|
||||
|
||||
inline float length( const Quat & quat )
|
||||
{
|
||||
return ::sqrtf( norm( quat ) );
|
||||
}
|
||||
|
||||
inline const Quat normalize( const Quat & quat )
|
||||
{
|
||||
float lenSqr, lenInv;
|
||||
lenSqr = norm( quat );
|
||||
lenInv = ( 1.0f / sqrtf( lenSqr ) );
|
||||
return Quat(
|
||||
( quat.getX() * lenInv ),
|
||||
( quat.getY() * lenInv ),
|
||||
( quat.getZ() * lenInv ),
|
||||
( quat.getW() * lenInv )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 )
|
||||
{
|
||||
float cosHalfAngleX2, recipCosHalfAngleX2;
|
||||
cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) );
|
||||
recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 );
|
||||
return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation( float radians, const Vector3 & unitVec )
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat( ( unitVec * s ), c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationX( float radians )
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat( s, 0.0f, 0.0f, c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationY( float radians )
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat( 0.0f, s, 0.0f, c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationZ( float radians )
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
return Quat( 0.0f, 0.0f, s, c );
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( const Quat & quat ) const
|
||||
{
|
||||
return Quat(
|
||||
( ( ( ( mXYZW[3] * quat.mXYZW[0] ) + ( mXYZW[0] * quat.mXYZW[3] ) ) + ( mXYZW[1] * quat.mXYZW[2] ) ) - ( mXYZW[2] * quat.mXYZW[1] ) ),
|
||||
( ( ( ( mXYZW[3] * quat.mXYZW[1] ) + ( mXYZW[1] * quat.mXYZW[3] ) ) + ( mXYZW[2] * quat.mXYZW[0] ) ) - ( mXYZW[0] * quat.mXYZW[2] ) ),
|
||||
( ( ( ( mXYZW[3] * quat.mXYZW[2] ) + ( mXYZW[2] * quat.mXYZW[3] ) ) + ( mXYZW[0] * quat.mXYZW[1] ) ) - ( mXYZW[1] * quat.mXYZW[0] ) ),
|
||||
( ( ( ( mXYZW[3] * quat.mXYZW[3] ) - ( mXYZW[0] * quat.mXYZW[0] ) ) - ( mXYZW[1] * quat.mXYZW[1] ) ) - ( mXYZW[2] * quat.mXYZW[2] ) )
|
||||
);
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator *=( const Quat & quat )
|
||||
{
|
||||
*this = *this * quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 rotate( const Quat & quat, const Vector3 & 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 Vector3(
|
||||
( ( ( ( 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 conj( const Quat & quat )
|
||||
{
|
||||
return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() );
|
||||
}
|
||||
|
||||
inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 )
|
||||
{
|
||||
return Quat(
|
||||
( select1 )? quat1.getX() : quat0.getX(),
|
||||
( select1 )? quat1.getY() : quat0.getY(),
|
||||
( select1 )? quat1.getZ() : quat0.getZ(),
|
||||
( select1 )? quat1.getW() : quat0.getW()
|
||||
);
|
||||
}
|
||||
inline Quat::Quat(float _x, float _y, float _z, float _w)
|
||||
{
|
||||
mXYZW[0] = _x;
|
||||
mXYZW[1] = _y;
|
||||
mXYZW[2] = _z;
|
||||
mXYZW[3] = _w;
|
||||
}
|
||||
|
||||
inline Quat::Quat(float32x4_t fXYZW)
|
||||
{
|
||||
vXYZW = fXYZW;
|
||||
}
|
||||
|
||||
inline Quat::Quat(const Vector3 &xyz, float _w)
|
||||
{
|
||||
this->setXYZ(xyz);
|
||||
this->setW(_w);
|
||||
}
|
||||
|
||||
inline Quat::Quat(const Vector4 &vec)
|
||||
{
|
||||
mXYZW[0] = vec.getX();
|
||||
mXYZW[1] = vec.getY();
|
||||
mXYZW[2] = vec.getZ();
|
||||
mXYZW[3] = vec.getW();
|
||||
}
|
||||
|
||||
inline Quat::Quat(float scalar)
|
||||
{
|
||||
vXYZW = vdupq_n_f32(scalar);
|
||||
}
|
||||
|
||||
inline const Quat Quat::identity()
|
||||
{
|
||||
return Quat(0.0f, 0.0f, 0.0f, 1.0f);
|
||||
}
|
||||
|
||||
inline const Quat lerp(float t, const Quat &quat0, const Quat &quat1)
|
||||
{
|
||||
return (quat0 + ((quat1 - quat0) * t));
|
||||
}
|
||||
|
||||
inline const Quat slerp(float t, const Quat &unitQuat0, const Quat &unitQuat1)
|
||||
{
|
||||
Quat 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 squad(float t, const Quat &unitQuat0, const Quat &unitQuat1, const Quat &unitQuat2, const Quat &unitQuat3)
|
||||
{
|
||||
Quat tmp0, tmp1;
|
||||
tmp0 = slerp(t, unitQuat0, unitQuat3);
|
||||
tmp1 = slerp(t, unitQuat1, unitQuat2);
|
||||
return slerp(((2.0f * t) * (1.0f - t)), tmp0, tmp1);
|
||||
}
|
||||
|
||||
inline void loadXYZW(Quat &quat, const float *fptr)
|
||||
{
|
||||
quat = Quat(fptr[0], fptr[1], fptr[2], fptr[3]);
|
||||
}
|
||||
|
||||
inline void storeXYZW(const Quat &quat, float *fptr)
|
||||
{
|
||||
vst1q_f32(fptr, quat.getvXYZW());
|
||||
}
|
||||
|
||||
inline Quat &Quat::operator=(const Quat &quat)
|
||||
{
|
||||
vXYZW = quat.getvXYZW();
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat &Quat::setXYZ(const Vector3 &vec)
|
||||
{
|
||||
mXYZW[0] = vec.getX();
|
||||
mXYZW[1] = vec.getY();
|
||||
mXYZW[2] = vec.getZ();
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 Quat::getXYZ() const
|
||||
{
|
||||
return Vector3(mXYZW[0], mXYZW[1], mXYZW[2]);
|
||||
}
|
||||
|
||||
inline float32x4_t Quat::getvXYZW() const
|
||||
{
|
||||
return vXYZW;
|
||||
}
|
||||
|
||||
inline Quat &Quat::setX(float _x)
|
||||
{
|
||||
mXYZW[0] = _x;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getX() const
|
||||
{
|
||||
return mXYZW[0];
|
||||
}
|
||||
|
||||
inline Quat &Quat::setY(float _y)
|
||||
{
|
||||
mXYZW[1] = _y;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getY() const
|
||||
{
|
||||
return mXYZW[1];
|
||||
}
|
||||
|
||||
inline Quat &Quat::setZ(float _z)
|
||||
{
|
||||
mXYZW[2] = _z;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getZ() const
|
||||
{
|
||||
return mXYZW[2];
|
||||
}
|
||||
|
||||
inline Quat &Quat::setW(float _w)
|
||||
{
|
||||
mXYZW[3] = _w;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getW() const
|
||||
{
|
||||
return mXYZW[3];
|
||||
}
|
||||
|
||||
inline Quat &Quat::setElem(int idx, float value)
|
||||
{
|
||||
*(&mXYZW[0] + idx) = value;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getElem(int idx) const
|
||||
{
|
||||
return *(&mXYZW[0] + idx);
|
||||
}
|
||||
|
||||
inline float &Quat::operator[](int idx)
|
||||
{
|
||||
return *(&mXYZW[0] + idx);
|
||||
}
|
||||
|
||||
inline float Quat::operator[](int idx) const
|
||||
{
|
||||
return *(&mXYZW[0] + idx);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator+(const Quat &quat) const
|
||||
{
|
||||
return Quat(vaddq_f32(vXYZW, quat.vXYZW));
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator-(const Quat &quat) const
|
||||
{
|
||||
return Quat(vsubq_f32(vXYZW, quat.vXYZW));
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator*(float scalar) const
|
||||
{
|
||||
float32x4_t v_scalar = vdupq_n_f32(scalar);
|
||||
return Quat(vmulq_f32(vXYZW, v_scalar));
|
||||
}
|
||||
|
||||
inline Quat &Quat::operator+=(const Quat &quat)
|
||||
{
|
||||
*this = *this + quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat &Quat::operator-=(const Quat &quat)
|
||||
{
|
||||
*this = *this - quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat &Quat::operator*=(float scalar)
|
||||
{
|
||||
*this = *this * scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator/(float scalar) const
|
||||
{
|
||||
return Quat(
|
||||
(mXYZW[0] / scalar),
|
||||
(mXYZW[1] / scalar),
|
||||
(mXYZW[2] / scalar),
|
||||
(mXYZW[3] / scalar));
|
||||
}
|
||||
|
||||
inline Quat &Quat::operator/=(float scalar)
|
||||
{
|
||||
*this = *this / scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator-() const
|
||||
{
|
||||
return Quat(vnegq_f32(vXYZW));
|
||||
}
|
||||
|
||||
inline const Quat operator*(float scalar, const Quat &quat)
|
||||
{
|
||||
return quat * scalar;
|
||||
}
|
||||
|
||||
inline float dot(const Quat &quat0, const Quat &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;
|
||||
}
|
||||
|
||||
inline float norm(const Quat &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;
|
||||
}
|
||||
|
||||
inline float length(const Quat &quat)
|
||||
{
|
||||
return ::sqrtf(norm(quat));
|
||||
}
|
||||
|
||||
inline const Quat normalize(const Quat &quat)
|
||||
{
|
||||
float lenSqr, lenInv;
|
||||
lenSqr = norm(quat);
|
||||
lenInv = (1.0f / sqrtf(lenSqr));
|
||||
return Quat(
|
||||
(quat.getX() * lenInv),
|
||||
(quat.getY() * lenInv),
|
||||
(quat.getZ() * lenInv),
|
||||
(quat.getW() * lenInv));
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation(const Vector3 &unitVec0, const Vector3 &unitVec1)
|
||||
{
|
||||
float cosHalfAngleX2, recipCosHalfAngleX2;
|
||||
cosHalfAngleX2 = sqrtf((2.0f * (1.0f + dot(unitVec0, unitVec1))));
|
||||
recipCosHalfAngleX2 = (1.0f / cosHalfAngleX2);
|
||||
return Quat((cross(unitVec0, unitVec1) * recipCosHalfAngleX2), (cosHalfAngleX2 * 0.5f));
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotation(float radians, const Vector3 &unitVec)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat((unitVec * s), c);
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationX(float radians)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat(s, 0.0f, 0.0f, c);
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationY(float radians)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat(0.0f, s, 0.0f, c);
|
||||
}
|
||||
|
||||
inline const Quat Quat::rotationZ(float radians)
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = (radians * 0.5f);
|
||||
s = sinf(angle);
|
||||
c = cosf(angle);
|
||||
return Quat(0.0f, 0.0f, s, c);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator*(const Quat &quat) const
|
||||
{
|
||||
return Quat(
|
||||
((((mXYZW[3] * quat.mXYZW[0]) + (mXYZW[0] * quat.mXYZW[3])) + (mXYZW[1] * quat.mXYZW[2])) - (mXYZW[2] * quat.mXYZW[1])),
|
||||
((((mXYZW[3] * quat.mXYZW[1]) + (mXYZW[1] * quat.mXYZW[3])) + (mXYZW[2] * quat.mXYZW[0])) - (mXYZW[0] * quat.mXYZW[2])),
|
||||
((((mXYZW[3] * quat.mXYZW[2]) + (mXYZW[2] * quat.mXYZW[3])) + (mXYZW[0] * quat.mXYZW[1])) - (mXYZW[1] * quat.mXYZW[0])),
|
||||
((((mXYZW[3] * quat.mXYZW[3]) - (mXYZW[0] * quat.mXYZW[0])) - (mXYZW[1] * quat.mXYZW[1])) - (mXYZW[2] * quat.mXYZW[2])));
|
||||
}
|
||||
|
||||
inline Quat &Quat::operator*=(const Quat &quat)
|
||||
{
|
||||
*this = *this * quat;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 rotate(const Quat &quat, const Vector3 &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 Vector3(
|
||||
((((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 conj(const Quat &quat)
|
||||
{
|
||||
return Quat(-quat.getX(), -quat.getY(), -quat.getZ(), quat.getW());
|
||||
}
|
||||
|
||||
inline const Quat select(const Quat &quat0, const Quat &quat1, bool select1)
|
||||
{
|
||||
return Quat(
|
||||
(select1) ? quat1.getX() : quat0.getX(),
|
||||
(select1) ? quat1.getY() : quat0.getY(),
|
||||
(select1) ? quat1.getZ() : quat0.getZ(),
|
||||
(select1) ? quat1.getW() : quat0.getW());
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_DEBUG
|
||||
|
||||
inline void print( const Quat & quat )
|
||||
inline void print(const Quat &quat)
|
||||
{
|
||||
printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
|
||||
printf("( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW());
|
||||
}
|
||||
|
||||
inline void print( const Quat & quat, const char * name )
|
||||
inline void print(const Quat &quat, const char *name)
|
||||
{
|
||||
printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
|
||||
printf("%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW());
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace Aos
|
||||
} // namespace Vectormath
|
||||
} // namespace Aos
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
Reference in New Issue
Block a user