converted files to UNIX EOL
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ejcoumans
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@@ -1,368 +1,368 @@
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/*
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Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
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||||
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||||
#ifndef _VECTORMATH_QUAT_AOS_C_H
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#define _VECTORMATH_QUAT_AOS_C_H
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#ifdef __cplusplus
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extern "C" {
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#endif /* __cplusplus */
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/*-----------------------------------------------------------------------------
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||||
* Definitions
|
||||
*/
|
||||
#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
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#define _VECTORMATH_INTERNAL_FUNCTIONS
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#endif
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static inline void vmathQCopy( VmathQuat *result, const VmathQuat *quat )
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{
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result->x = quat->x;
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result->y = quat->y;
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result->z = quat->z;
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result->w = quat->w;
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}
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static inline void vmathQMakeFromElems( VmathQuat *result, float _x, float _y, float _z, float _w )
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{
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result->x = _x;
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result->y = _y;
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result->z = _z;
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result->w = _w;
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}
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static inline void vmathQMakeFromV3Scalar( VmathQuat *result, const VmathVector3 *xyz, float _w )
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{
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vmathQSetXYZ( result, xyz );
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vmathQSetW( result, _w );
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}
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static inline void vmathQMakeFromV4( VmathQuat *result, const VmathVector4 *vec )
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{
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result->x = vec->x;
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result->y = vec->y;
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result->z = vec->z;
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result->w = vec->w;
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}
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static inline void vmathQMakeFromScalar( VmathQuat *result, float scalar )
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{
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result->x = scalar;
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result->y = scalar;
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result->z = scalar;
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result->w = scalar;
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}
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static inline void vmathQMakeIdentity( VmathQuat *result )
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{
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vmathQMakeFromElems( result, 0.0f, 0.0f, 0.0f, 1.0f );
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}
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static inline void vmathQLerp( VmathQuat *result, float t, const VmathQuat *quat0, const VmathQuat *quat1 )
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{
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VmathQuat tmpQ_0, tmpQ_1;
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vmathQSub( &tmpQ_0, quat1, quat0 );
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vmathQScalarMul( &tmpQ_1, &tmpQ_0, t );
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vmathQAdd( result, quat0, &tmpQ_1 );
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}
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static inline void vmathQSlerp( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1 )
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{
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VmathQuat start, tmpQ_0, tmpQ_1;
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float recipSinAngle, scale0, scale1, cosAngle, angle;
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cosAngle = vmathQDot( unitQuat0, unitQuat1 );
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if ( cosAngle < 0.0f ) {
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cosAngle = -cosAngle;
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vmathQNeg( &start, unitQuat0 );
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} else {
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vmathQCopy( &start, unitQuat0 );
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}
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if ( cosAngle < _VECTORMATH_SLERP_TOL ) {
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angle = acosf( cosAngle );
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recipSinAngle = ( 1.0f / sinf( angle ) );
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scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle );
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scale1 = ( sinf( ( t * angle ) ) * recipSinAngle );
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} else {
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scale0 = ( 1.0f - t );
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scale1 = t;
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}
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vmathQScalarMul( &tmpQ_0, &start, scale0 );
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vmathQScalarMul( &tmpQ_1, unitQuat1, scale1 );
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vmathQAdd( result, &tmpQ_0, &tmpQ_1 );
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}
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static inline void vmathQSquad( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1, const VmathQuat *unitQuat2, const VmathQuat *unitQuat3 )
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{
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VmathQuat tmp0, tmp1;
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vmathQSlerp( &tmp0, t, unitQuat0, unitQuat3 );
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vmathQSlerp( &tmp1, t, unitQuat1, unitQuat2 );
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vmathQSlerp( result, ( ( 2.0f * t ) * ( 1.0f - t ) ), &tmp0, &tmp1 );
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}
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static inline void vmathQSetXYZ( VmathQuat *result, const VmathVector3 *vec )
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{
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result->x = vec->x;
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result->y = vec->y;
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result->z = vec->z;
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}
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static inline void vmathQGetXYZ( VmathVector3 *result, const VmathQuat *quat )
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{
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vmathV3MakeFromElems( result, quat->x, quat->y, quat->z );
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}
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static inline void vmathQSetX( VmathQuat *result, float _x )
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{
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result->x = _x;
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}
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static inline float vmathQGetX( const VmathQuat *quat )
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{
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return quat->x;
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}
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static inline void vmathQSetY( VmathQuat *result, float _y )
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{
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result->y = _y;
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}
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static inline float vmathQGetY( const VmathQuat *quat )
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{
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return quat->y;
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}
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static inline void vmathQSetZ( VmathQuat *result, float _z )
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{
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result->z = _z;
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}
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static inline float vmathQGetZ( const VmathQuat *quat )
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{
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return quat->z;
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}
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static inline void vmathQSetW( VmathQuat *result, float _w )
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{
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result->w = _w;
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}
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static inline float vmathQGetW( const VmathQuat *quat )
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{
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return quat->w;
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}
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static inline void vmathQSetElem( VmathQuat *result, int idx, float value )
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{
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*(&result->x + idx) = value;
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}
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static inline float vmathQGetElem( const VmathQuat *quat, int idx )
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{
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return *(&quat->x + idx);
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}
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static inline void vmathQAdd( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 )
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{
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result->x = ( quat0->x + quat1->x );
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result->y = ( quat0->y + quat1->y );
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result->z = ( quat0->z + quat1->z );
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result->w = ( quat0->w + quat1->w );
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}
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static inline void vmathQSub( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 )
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{
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result->x = ( quat0->x - quat1->x );
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result->y = ( quat0->y - quat1->y );
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result->z = ( quat0->z - quat1->z );
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result->w = ( quat0->w - quat1->w );
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}
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static inline void vmathQScalarMul( VmathQuat *result, const VmathQuat *quat, float scalar )
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{
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result->x = ( quat->x * scalar );
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result->y = ( quat->y * scalar );
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result->z = ( quat->z * scalar );
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result->w = ( quat->w * scalar );
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}
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static inline void vmathQScalarDiv( VmathQuat *result, const VmathQuat *quat, float scalar )
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{
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result->x = ( quat->x / scalar );
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result->y = ( quat->y / scalar );
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result->z = ( quat->z / scalar );
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result->w = ( quat->w / scalar );
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}
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static inline void vmathQNeg( VmathQuat *result, const VmathQuat *quat )
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{
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result->x = -quat->x;
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result->y = -quat->y;
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result->z = -quat->z;
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result->w = -quat->w;
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}
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static inline float vmathQDot( const VmathQuat *quat0, const VmathQuat *quat1 )
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{
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float result;
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result = ( quat0->x * quat1->x );
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result = ( result + ( quat0->y * quat1->y ) );
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result = ( result + ( quat0->z * quat1->z ) );
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result = ( result + ( quat0->w * quat1->w ) );
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return result;
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}
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static inline float vmathQNorm( const VmathQuat *quat )
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{
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float result;
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result = ( quat->x * quat->x );
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result = ( result + ( quat->y * quat->y ) );
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result = ( result + ( quat->z * quat->z ) );
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result = ( result + ( quat->w * quat->w ) );
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return result;
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}
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static inline float vmathQLength( const VmathQuat *quat )
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{
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return sqrtf( vmathQNorm( quat ) );
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}
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static inline void vmathQNormalize( VmathQuat *result, const VmathQuat *quat )
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{
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float lenSqr, lenInv;
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lenSqr = vmathQNorm( quat );
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lenInv = ( 1.0f / sqrtf( lenSqr ) );
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result->x = ( quat->x * lenInv );
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result->y = ( quat->y * lenInv );
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result->z = ( quat->z * lenInv );
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result->w = ( quat->w * lenInv );
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}
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static inline void vmathQMakeRotationArc( VmathQuat *result, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 )
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{
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VmathVector3 tmpV3_0, tmpV3_1;
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float cosHalfAngleX2, recipCosHalfAngleX2;
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cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + vmathV3Dot( unitVec0, unitVec1 ) ) ) );
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recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 );
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vmathV3Cross( &tmpV3_0, unitVec0, unitVec1 );
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vmathV3ScalarMul( &tmpV3_1, &tmpV3_0, recipCosHalfAngleX2 );
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vmathQMakeFromV3Scalar( result, &tmpV3_1, ( cosHalfAngleX2 * 0.5f ) );
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}
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static inline void vmathQMakeRotationAxis( VmathQuat *result, float radians, const VmathVector3 *unitVec )
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||||
{
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VmathVector3 tmpV3_0;
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float s, c, angle;
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||||
angle = ( radians * 0.5f );
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s = sinf( angle );
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c = cosf( angle );
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vmathV3ScalarMul( &tmpV3_0, unitVec, s );
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vmathQMakeFromV3Scalar( result, &tmpV3_0, c );
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}
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static inline void vmathQMakeRotationX( VmathQuat *result, float radians )
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||||
{
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float s, c, angle;
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||||
angle = ( radians * 0.5f );
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||||
s = sinf( angle );
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||||
c = cosf( angle );
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||||
vmathQMakeFromElems( result, s, 0.0f, 0.0f, c );
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}
|
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|
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static inline void vmathQMakeRotationY( VmathQuat *result, float radians )
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||||
{
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float s, c, angle;
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angle = ( radians * 0.5f );
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||||
s = sinf( angle );
|
||||
c = cosf( angle );
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||||
vmathQMakeFromElems( result, 0.0f, s, 0.0f, c );
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}
|
||||
|
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static inline void vmathQMakeRotationZ( VmathQuat *result, float radians )
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
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||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
vmathQMakeFromElems( result, 0.0f, 0.0f, s, c );
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}
|
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|
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static inline void vmathQMul( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 )
|
||||
{
|
||||
float tmpX, tmpY, tmpZ, tmpW;
|
||||
tmpX = ( ( ( ( quat0->w * quat1->x ) + ( quat0->x * quat1->w ) ) + ( quat0->y * quat1->z ) ) - ( quat0->z * quat1->y ) );
|
||||
tmpY = ( ( ( ( quat0->w * quat1->y ) + ( quat0->y * quat1->w ) ) + ( quat0->z * quat1->x ) ) - ( quat0->x * quat1->z ) );
|
||||
tmpZ = ( ( ( ( quat0->w * quat1->z ) + ( quat0->z * quat1->w ) ) + ( quat0->x * quat1->y ) ) - ( quat0->y * quat1->x ) );
|
||||
tmpW = ( ( ( ( quat0->w * quat1->w ) - ( quat0->x * quat1->x ) ) - ( quat0->y * quat1->y ) ) - ( quat0->z * quat1->z ) );
|
||||
vmathQMakeFromElems( result, tmpX, tmpY, tmpZ, tmpW );
|
||||
}
|
||||
|
||||
static inline void vmathQRotate( VmathVector3 *result, const VmathQuat *quat, const VmathVector3 *vec )
|
||||
{
|
||||
float tmpX, tmpY, tmpZ, tmpW;
|
||||
tmpX = ( ( ( quat->w * vec->x ) + ( quat->y * vec->z ) ) - ( quat->z * vec->y ) );
|
||||
tmpY = ( ( ( quat->w * vec->y ) + ( quat->z * vec->x ) ) - ( quat->x * vec->z ) );
|
||||
tmpZ = ( ( ( quat->w * vec->z ) + ( quat->x * vec->y ) ) - ( quat->y * vec->x ) );
|
||||
tmpW = ( ( ( quat->x * vec->x ) + ( quat->y * vec->y ) ) + ( quat->z * vec->z ) );
|
||||
result->x = ( ( ( ( tmpW * quat->x ) + ( tmpX * quat->w ) ) - ( tmpY * quat->z ) ) + ( tmpZ * quat->y ) );
|
||||
result->y = ( ( ( ( tmpW * quat->y ) + ( tmpY * quat->w ) ) - ( tmpZ * quat->x ) ) + ( tmpX * quat->z ) );
|
||||
result->z = ( ( ( ( tmpW * quat->z ) + ( tmpZ * quat->w ) ) - ( tmpX * quat->y ) ) + ( tmpY * quat->x ) );
|
||||
}
|
||||
|
||||
static inline void vmathQConj( VmathQuat *result, const VmathQuat *quat )
|
||||
{
|
||||
vmathQMakeFromElems( result, -quat->x, -quat->y, -quat->z, quat->w );
|
||||
}
|
||||
|
||||
static inline void vmathQSelect( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, unsigned int select1 )
|
||||
{
|
||||
result->x = ( select1 )? quat1->x : quat0->x;
|
||||
result->y = ( select1 )? quat1->y : quat0->y;
|
||||
result->z = ( select1 )? quat1->z : quat0->z;
|
||||
result->w = ( select1 )? quat1->w : quat0->w;
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_DEBUG
|
||||
|
||||
static inline void vmathQPrint( const VmathQuat *quat )
|
||||
{
|
||||
printf( "( %f %f %f %f )\n", quat->x, quat->y, quat->z, quat->w );
|
||||
}
|
||||
|
||||
static inline void vmathQPrints( const VmathQuat *quat, const char *name )
|
||||
{
|
||||
printf( "%s: ( %f %f %f %f )\n", name, quat->x, quat->y, quat->z, quat->w );
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* __cplusplus */
|
||||
|
||||
#endif
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _VECTORMATH_QUAT_AOS_C_H
|
||||
#define _VECTORMATH_QUAT_AOS_C_H
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif /* __cplusplus */
|
||||
|
||||
/*-----------------------------------------------------------------------------
|
||||
* Definitions
|
||||
*/
|
||||
#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
#define _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
|
||||
#endif
|
||||
|
||||
static inline void vmathQCopy( VmathQuat *result, const VmathQuat *quat )
|
||||
{
|
||||
result->x = quat->x;
|
||||
result->y = quat->y;
|
||||
result->z = quat->z;
|
||||
result->w = quat->w;
|
||||
}
|
||||
|
||||
static inline void vmathQMakeFromElems( VmathQuat *result, float _x, float _y, float _z, float _w )
|
||||
{
|
||||
result->x = _x;
|
||||
result->y = _y;
|
||||
result->z = _z;
|
||||
result->w = _w;
|
||||
}
|
||||
|
||||
static inline void vmathQMakeFromV3Scalar( VmathQuat *result, const VmathVector3 *xyz, float _w )
|
||||
{
|
||||
vmathQSetXYZ( result, xyz );
|
||||
vmathQSetW( result, _w );
|
||||
}
|
||||
|
||||
static inline void vmathQMakeFromV4( VmathQuat *result, const VmathVector4 *vec )
|
||||
{
|
||||
result->x = vec->x;
|
||||
result->y = vec->y;
|
||||
result->z = vec->z;
|
||||
result->w = vec->w;
|
||||
}
|
||||
|
||||
static inline void vmathQMakeFromScalar( VmathQuat *result, float scalar )
|
||||
{
|
||||
result->x = scalar;
|
||||
result->y = scalar;
|
||||
result->z = scalar;
|
||||
result->w = scalar;
|
||||
}
|
||||
|
||||
static inline void vmathQMakeIdentity( VmathQuat *result )
|
||||
{
|
||||
vmathQMakeFromElems( result, 0.0f, 0.0f, 0.0f, 1.0f );
|
||||
}
|
||||
|
||||
static inline void vmathQLerp( VmathQuat *result, float t, const VmathQuat *quat0, const VmathQuat *quat1 )
|
||||
{
|
||||
VmathQuat tmpQ_0, tmpQ_1;
|
||||
vmathQSub( &tmpQ_0, quat1, quat0 );
|
||||
vmathQScalarMul( &tmpQ_1, &tmpQ_0, t );
|
||||
vmathQAdd( result, quat0, &tmpQ_1 );
|
||||
}
|
||||
|
||||
static inline void vmathQSlerp( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1 )
|
||||
{
|
||||
VmathQuat start, tmpQ_0, tmpQ_1;
|
||||
float recipSinAngle, scale0, scale1, cosAngle, angle;
|
||||
cosAngle = vmathQDot( unitQuat0, unitQuat1 );
|
||||
if ( cosAngle < 0.0f ) {
|
||||
cosAngle = -cosAngle;
|
||||
vmathQNeg( &start, unitQuat0 );
|
||||
} else {
|
||||
vmathQCopy( &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;
|
||||
}
|
||||
vmathQScalarMul( &tmpQ_0, &start, scale0 );
|
||||
vmathQScalarMul( &tmpQ_1, unitQuat1, scale1 );
|
||||
vmathQAdd( result, &tmpQ_0, &tmpQ_1 );
|
||||
}
|
||||
|
||||
static inline void vmathQSquad( VmathQuat *result, float t, const VmathQuat *unitQuat0, const VmathQuat *unitQuat1, const VmathQuat *unitQuat2, const VmathQuat *unitQuat3 )
|
||||
{
|
||||
VmathQuat tmp0, tmp1;
|
||||
vmathQSlerp( &tmp0, t, unitQuat0, unitQuat3 );
|
||||
vmathQSlerp( &tmp1, t, unitQuat1, unitQuat2 );
|
||||
vmathQSlerp( result, ( ( 2.0f * t ) * ( 1.0f - t ) ), &tmp0, &tmp1 );
|
||||
}
|
||||
|
||||
static inline void vmathQSetXYZ( VmathQuat *result, const VmathVector3 *vec )
|
||||
{
|
||||
result->x = vec->x;
|
||||
result->y = vec->y;
|
||||
result->z = vec->z;
|
||||
}
|
||||
|
||||
static inline void vmathQGetXYZ( VmathVector3 *result, const VmathQuat *quat )
|
||||
{
|
||||
vmathV3MakeFromElems( result, quat->x, quat->y, quat->z );
|
||||
}
|
||||
|
||||
static inline void vmathQSetX( VmathQuat *result, float _x )
|
||||
{
|
||||
result->x = _x;
|
||||
}
|
||||
|
||||
static inline float vmathQGetX( const VmathQuat *quat )
|
||||
{
|
||||
return quat->x;
|
||||
}
|
||||
|
||||
static inline void vmathQSetY( VmathQuat *result, float _y )
|
||||
{
|
||||
result->y = _y;
|
||||
}
|
||||
|
||||
static inline float vmathQGetY( const VmathQuat *quat )
|
||||
{
|
||||
return quat->y;
|
||||
}
|
||||
|
||||
static inline void vmathQSetZ( VmathQuat *result, float _z )
|
||||
{
|
||||
result->z = _z;
|
||||
}
|
||||
|
||||
static inline float vmathQGetZ( const VmathQuat *quat )
|
||||
{
|
||||
return quat->z;
|
||||
}
|
||||
|
||||
static inline void vmathQSetW( VmathQuat *result, float _w )
|
||||
{
|
||||
result->w = _w;
|
||||
}
|
||||
|
||||
static inline float vmathQGetW( const VmathQuat *quat )
|
||||
{
|
||||
return quat->w;
|
||||
}
|
||||
|
||||
static inline void vmathQSetElem( VmathQuat *result, int idx, float value )
|
||||
{
|
||||
*(&result->x + idx) = value;
|
||||
}
|
||||
|
||||
static inline float vmathQGetElem( const VmathQuat *quat, int idx )
|
||||
{
|
||||
return *(&quat->x + idx);
|
||||
}
|
||||
|
||||
static inline void vmathQAdd( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 )
|
||||
{
|
||||
result->x = ( quat0->x + quat1->x );
|
||||
result->y = ( quat0->y + quat1->y );
|
||||
result->z = ( quat0->z + quat1->z );
|
||||
result->w = ( quat0->w + quat1->w );
|
||||
}
|
||||
|
||||
static inline void vmathQSub( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 )
|
||||
{
|
||||
result->x = ( quat0->x - quat1->x );
|
||||
result->y = ( quat0->y - quat1->y );
|
||||
result->z = ( quat0->z - quat1->z );
|
||||
result->w = ( quat0->w - quat1->w );
|
||||
}
|
||||
|
||||
static inline void vmathQScalarMul( VmathQuat *result, const VmathQuat *quat, float scalar )
|
||||
{
|
||||
result->x = ( quat->x * scalar );
|
||||
result->y = ( quat->y * scalar );
|
||||
result->z = ( quat->z * scalar );
|
||||
result->w = ( quat->w * scalar );
|
||||
}
|
||||
|
||||
static inline void vmathQScalarDiv( VmathQuat *result, const VmathQuat *quat, float scalar )
|
||||
{
|
||||
result->x = ( quat->x / scalar );
|
||||
result->y = ( quat->y / scalar );
|
||||
result->z = ( quat->z / scalar );
|
||||
result->w = ( quat->w / scalar );
|
||||
}
|
||||
|
||||
static inline void vmathQNeg( VmathQuat *result, const VmathQuat *quat )
|
||||
{
|
||||
result->x = -quat->x;
|
||||
result->y = -quat->y;
|
||||
result->z = -quat->z;
|
||||
result->w = -quat->w;
|
||||
}
|
||||
|
||||
static inline float vmathQDot( const VmathQuat *quat0, const VmathQuat *quat1 )
|
||||
{
|
||||
float result;
|
||||
result = ( quat0->x * quat1->x );
|
||||
result = ( result + ( quat0->y * quat1->y ) );
|
||||
result = ( result + ( quat0->z * quat1->z ) );
|
||||
result = ( result + ( quat0->w * quat1->w ) );
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline float vmathQNorm( const VmathQuat *quat )
|
||||
{
|
||||
float result;
|
||||
result = ( quat->x * quat->x );
|
||||
result = ( result + ( quat->y * quat->y ) );
|
||||
result = ( result + ( quat->z * quat->z ) );
|
||||
result = ( result + ( quat->w * quat->w ) );
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline float vmathQLength( const VmathQuat *quat )
|
||||
{
|
||||
return sqrtf( vmathQNorm( quat ) );
|
||||
}
|
||||
|
||||
static inline void vmathQNormalize( VmathQuat *result, const VmathQuat *quat )
|
||||
{
|
||||
float lenSqr, lenInv;
|
||||
lenSqr = vmathQNorm( quat );
|
||||
lenInv = ( 1.0f / sqrtf( lenSqr ) );
|
||||
result->x = ( quat->x * lenInv );
|
||||
result->y = ( quat->y * lenInv );
|
||||
result->z = ( quat->z * lenInv );
|
||||
result->w = ( quat->w * lenInv );
|
||||
}
|
||||
|
||||
static inline void vmathQMakeRotationArc( VmathQuat *result, const VmathVector3 *unitVec0, const VmathVector3 *unitVec1 )
|
||||
{
|
||||
VmathVector3 tmpV3_0, tmpV3_1;
|
||||
float cosHalfAngleX2, recipCosHalfAngleX2;
|
||||
cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + vmathV3Dot( unitVec0, unitVec1 ) ) ) );
|
||||
recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 );
|
||||
vmathV3Cross( &tmpV3_0, unitVec0, unitVec1 );
|
||||
vmathV3ScalarMul( &tmpV3_1, &tmpV3_0, recipCosHalfAngleX2 );
|
||||
vmathQMakeFromV3Scalar( result, &tmpV3_1, ( cosHalfAngleX2 * 0.5f ) );
|
||||
}
|
||||
|
||||
static inline void vmathQMakeRotationAxis( VmathQuat *result, float radians, const VmathVector3 *unitVec )
|
||||
{
|
||||
VmathVector3 tmpV3_0;
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
vmathV3ScalarMul( &tmpV3_0, unitVec, s );
|
||||
vmathQMakeFromV3Scalar( result, &tmpV3_0, c );
|
||||
}
|
||||
|
||||
static inline void vmathQMakeRotationX( VmathQuat *result, float radians )
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
vmathQMakeFromElems( result, s, 0.0f, 0.0f, c );
|
||||
}
|
||||
|
||||
static inline void vmathQMakeRotationY( VmathQuat *result, float radians )
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
vmathQMakeFromElems( result, 0.0f, s, 0.0f, c );
|
||||
}
|
||||
|
||||
static inline void vmathQMakeRotationZ( VmathQuat *result, float radians )
|
||||
{
|
||||
float s, c, angle;
|
||||
angle = ( radians * 0.5f );
|
||||
s = sinf( angle );
|
||||
c = cosf( angle );
|
||||
vmathQMakeFromElems( result, 0.0f, 0.0f, s, c );
|
||||
}
|
||||
|
||||
static inline void vmathQMul( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1 )
|
||||
{
|
||||
float tmpX, tmpY, tmpZ, tmpW;
|
||||
tmpX = ( ( ( ( quat0->w * quat1->x ) + ( quat0->x * quat1->w ) ) + ( quat0->y * quat1->z ) ) - ( quat0->z * quat1->y ) );
|
||||
tmpY = ( ( ( ( quat0->w * quat1->y ) + ( quat0->y * quat1->w ) ) + ( quat0->z * quat1->x ) ) - ( quat0->x * quat1->z ) );
|
||||
tmpZ = ( ( ( ( quat0->w * quat1->z ) + ( quat0->z * quat1->w ) ) + ( quat0->x * quat1->y ) ) - ( quat0->y * quat1->x ) );
|
||||
tmpW = ( ( ( ( quat0->w * quat1->w ) - ( quat0->x * quat1->x ) ) - ( quat0->y * quat1->y ) ) - ( quat0->z * quat1->z ) );
|
||||
vmathQMakeFromElems( result, tmpX, tmpY, tmpZ, tmpW );
|
||||
}
|
||||
|
||||
static inline void vmathQRotate( VmathVector3 *result, const VmathQuat *quat, const VmathVector3 *vec )
|
||||
{
|
||||
float tmpX, tmpY, tmpZ, tmpW;
|
||||
tmpX = ( ( ( quat->w * vec->x ) + ( quat->y * vec->z ) ) - ( quat->z * vec->y ) );
|
||||
tmpY = ( ( ( quat->w * vec->y ) + ( quat->z * vec->x ) ) - ( quat->x * vec->z ) );
|
||||
tmpZ = ( ( ( quat->w * vec->z ) + ( quat->x * vec->y ) ) - ( quat->y * vec->x ) );
|
||||
tmpW = ( ( ( quat->x * vec->x ) + ( quat->y * vec->y ) ) + ( quat->z * vec->z ) );
|
||||
result->x = ( ( ( ( tmpW * quat->x ) + ( tmpX * quat->w ) ) - ( tmpY * quat->z ) ) + ( tmpZ * quat->y ) );
|
||||
result->y = ( ( ( ( tmpW * quat->y ) + ( tmpY * quat->w ) ) - ( tmpZ * quat->x ) ) + ( tmpX * quat->z ) );
|
||||
result->z = ( ( ( ( tmpW * quat->z ) + ( tmpZ * quat->w ) ) - ( tmpX * quat->y ) ) + ( tmpY * quat->x ) );
|
||||
}
|
||||
|
||||
static inline void vmathQConj( VmathQuat *result, const VmathQuat *quat )
|
||||
{
|
||||
vmathQMakeFromElems( result, -quat->x, -quat->y, -quat->z, quat->w );
|
||||
}
|
||||
|
||||
static inline void vmathQSelect( VmathQuat *result, const VmathQuat *quat0, const VmathQuat *quat1, unsigned int select1 )
|
||||
{
|
||||
result->x = ( select1 )? quat1->x : quat0->x;
|
||||
result->y = ( select1 )? quat1->y : quat0->y;
|
||||
result->z = ( select1 )? quat1->z : quat0->z;
|
||||
result->w = ( select1 )? quat1->w : quat0->w;
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_DEBUG
|
||||
|
||||
static inline void vmathQPrint( const VmathQuat *quat )
|
||||
{
|
||||
printf( "( %f %f %f %f )\n", quat->x, quat->y, quat->z, quat->w );
|
||||
}
|
||||
|
||||
static inline void vmathQPrints( const VmathQuat *quat, const char *name )
|
||||
{
|
||||
printf( "%s: ( %f %f %f %f )\n", name, quat->x, quat->y, quat->z, quat->w );
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* __cplusplus */
|
||||
|
||||
#endif
|
||||
|
||||
@@ -1,300 +1,300 @@
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _VECTORMATH_QUAT_AOS_V_C_H
|
||||
#define _VECTORMATH_QUAT_AOS_V_C_H
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif /* __cplusplus */
|
||||
|
||||
/*-----------------------------------------------------------------------------
|
||||
* Definitions
|
||||
*/
|
||||
#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
#define _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
|
||||
#endif
|
||||
|
||||
static inline VmathQuat vmathQMakeFromElems_V( float _x, float _y, float _z, float _w )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeFromElems(&result, _x, _y, _z, _w);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeFromV3Scalar_V( VmathVector3 xyz, float _w )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeFromV3Scalar(&result, &xyz, _w);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeFromV4_V( VmathVector4 vec )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeFromV4(&result, &vec);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeFromScalar_V( float scalar )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeFromScalar(&result, scalar);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeIdentity_V( )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeIdentity(&result);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQLerp_V( float t, VmathQuat quat0, VmathQuat quat1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQLerp(&result, t, &quat0, &quat1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQSlerp_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQSlerp(&result, t, &unitQuat0, &unitQuat1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQSquad_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1, VmathQuat unitQuat2, VmathQuat unitQuat3 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQSquad(&result, t, &unitQuat0, &unitQuat1, &unitQuat2, &unitQuat3);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline void vmathQSetXYZ_V( VmathQuat *result, VmathVector3 vec )
|
||||
{
|
||||
vmathQSetXYZ(result, &vec);
|
||||
}
|
||||
|
||||
static inline VmathVector3 vmathQGetXYZ_V( VmathQuat quat )
|
||||
{
|
||||
VmathVector3 result;
|
||||
vmathQGetXYZ(&result, &quat);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline void vmathQSetX_V( VmathQuat *result, float _x )
|
||||
{
|
||||
vmathQSetX(result, _x);
|
||||
}
|
||||
|
||||
static inline float vmathQGetX_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQGetX(&quat);
|
||||
}
|
||||
|
||||
static inline void vmathQSetY_V( VmathQuat *result, float _y )
|
||||
{
|
||||
vmathQSetY(result, _y);
|
||||
}
|
||||
|
||||
static inline float vmathQGetY_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQGetY(&quat);
|
||||
}
|
||||
|
||||
static inline void vmathQSetZ_V( VmathQuat *result, float _z )
|
||||
{
|
||||
vmathQSetZ(result, _z);
|
||||
}
|
||||
|
||||
static inline float vmathQGetZ_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQGetZ(&quat);
|
||||
}
|
||||
|
||||
static inline void vmathQSetW_V( VmathQuat *result, float _w )
|
||||
{
|
||||
vmathQSetW(result, _w);
|
||||
}
|
||||
|
||||
static inline float vmathQGetW_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQGetW(&quat);
|
||||
}
|
||||
|
||||
static inline void vmathQSetElem_V( VmathQuat *result, int idx, float value )
|
||||
{
|
||||
vmathQSetElem(result, idx, value);
|
||||
}
|
||||
|
||||
static inline float vmathQGetElem_V( VmathQuat quat, int idx )
|
||||
{
|
||||
return vmathQGetElem(&quat, idx);
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQAdd_V( VmathQuat quat0, VmathQuat quat1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQAdd(&result, &quat0, &quat1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQSub_V( VmathQuat quat0, VmathQuat quat1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQSub(&result, &quat0, &quat1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQScalarMul_V( VmathQuat quat, float scalar )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQScalarMul(&result, &quat, scalar);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQScalarDiv_V( VmathQuat quat, float scalar )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQScalarDiv(&result, &quat, scalar);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQNeg_V( VmathQuat quat )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQNeg(&result, &quat);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline float vmathQDot_V( VmathQuat quat0, VmathQuat quat1 )
|
||||
{
|
||||
return vmathQDot(&quat0, &quat1);
|
||||
}
|
||||
|
||||
static inline float vmathQNorm_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQNorm(&quat);
|
||||
}
|
||||
|
||||
static inline float vmathQLength_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQLength(&quat);
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQNormalize_V( VmathQuat quat )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQNormalize(&result, &quat);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeRotationArc_V( VmathVector3 unitVec0, VmathVector3 unitVec1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeRotationArc(&result, &unitVec0, &unitVec1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeRotationAxis_V( float radians, VmathVector3 unitVec )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeRotationAxis(&result, radians, &unitVec);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeRotationX_V( float radians )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeRotationX(&result, radians);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeRotationY_V( float radians )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeRotationY(&result, radians);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeRotationZ_V( float radians )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeRotationZ(&result, radians);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMul_V( VmathQuat quat0, VmathQuat quat1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMul(&result, &quat0, &quat1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathVector3 vmathQRotate_V( VmathQuat quat, VmathVector3 vec )
|
||||
{
|
||||
VmathVector3 result;
|
||||
vmathQRotate(&result, &quat, &vec);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQConj_V( VmathQuat quat )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQConj(&result, &quat);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQSelect_V( VmathQuat quat0, VmathQuat quat1, unsigned int select1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQSelect(&result, &quat0, &quat1, select1);
|
||||
return result;
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_DEBUG
|
||||
|
||||
static inline void vmathQPrint_V( VmathQuat quat )
|
||||
{
|
||||
vmathQPrint(&quat);
|
||||
}
|
||||
|
||||
static inline void vmathQPrints_V( VmathQuat quat, const char *name )
|
||||
{
|
||||
vmathQPrints(&quat, name);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* __cplusplus */
|
||||
|
||||
#endif
|
||||
/*
|
||||
Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
|
||||
All rights reserved.
|
||||
|
||||
Redistribution and use in source and binary forms,
|
||||
with or without modification, are permitted provided that the
|
||||
following conditions are met:
|
||||
* Redistributions of source code must retain the above copyright
|
||||
notice, this list of conditions and the following disclaimer.
|
||||
* Redistributions in binary form must reproduce the above copyright
|
||||
notice, this list of conditions and the following disclaimer in the
|
||||
documentation and/or other materials provided with the distribution.
|
||||
* Neither the name of the Sony Computer Entertainment Inc nor the names
|
||||
of its contributors may be used to endorse or promote products derived
|
||||
from this software without specific prior written permission.
|
||||
|
||||
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
|
||||
ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
|
||||
LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
|
||||
CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
|
||||
SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
|
||||
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
|
||||
CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
|
||||
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
|
||||
POSSIBILITY OF SUCH DAMAGE.
|
||||
*/
|
||||
|
||||
#ifndef _VECTORMATH_QUAT_AOS_V_C_H
|
||||
#define _VECTORMATH_QUAT_AOS_V_C_H
|
||||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif /* __cplusplus */
|
||||
|
||||
/*-----------------------------------------------------------------------------
|
||||
* Definitions
|
||||
*/
|
||||
#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
#define _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
|
||||
#endif
|
||||
|
||||
static inline VmathQuat vmathQMakeFromElems_V( float _x, float _y, float _z, float _w )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeFromElems(&result, _x, _y, _z, _w);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeFromV3Scalar_V( VmathVector3 xyz, float _w )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeFromV3Scalar(&result, &xyz, _w);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeFromV4_V( VmathVector4 vec )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeFromV4(&result, &vec);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeFromScalar_V( float scalar )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeFromScalar(&result, scalar);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeIdentity_V( )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeIdentity(&result);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQLerp_V( float t, VmathQuat quat0, VmathQuat quat1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQLerp(&result, t, &quat0, &quat1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQSlerp_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQSlerp(&result, t, &unitQuat0, &unitQuat1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQSquad_V( float t, VmathQuat unitQuat0, VmathQuat unitQuat1, VmathQuat unitQuat2, VmathQuat unitQuat3 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQSquad(&result, t, &unitQuat0, &unitQuat1, &unitQuat2, &unitQuat3);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline void vmathQSetXYZ_V( VmathQuat *result, VmathVector3 vec )
|
||||
{
|
||||
vmathQSetXYZ(result, &vec);
|
||||
}
|
||||
|
||||
static inline VmathVector3 vmathQGetXYZ_V( VmathQuat quat )
|
||||
{
|
||||
VmathVector3 result;
|
||||
vmathQGetXYZ(&result, &quat);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline void vmathQSetX_V( VmathQuat *result, float _x )
|
||||
{
|
||||
vmathQSetX(result, _x);
|
||||
}
|
||||
|
||||
static inline float vmathQGetX_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQGetX(&quat);
|
||||
}
|
||||
|
||||
static inline void vmathQSetY_V( VmathQuat *result, float _y )
|
||||
{
|
||||
vmathQSetY(result, _y);
|
||||
}
|
||||
|
||||
static inline float vmathQGetY_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQGetY(&quat);
|
||||
}
|
||||
|
||||
static inline void vmathQSetZ_V( VmathQuat *result, float _z )
|
||||
{
|
||||
vmathQSetZ(result, _z);
|
||||
}
|
||||
|
||||
static inline float vmathQGetZ_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQGetZ(&quat);
|
||||
}
|
||||
|
||||
static inline void vmathQSetW_V( VmathQuat *result, float _w )
|
||||
{
|
||||
vmathQSetW(result, _w);
|
||||
}
|
||||
|
||||
static inline float vmathQGetW_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQGetW(&quat);
|
||||
}
|
||||
|
||||
static inline void vmathQSetElem_V( VmathQuat *result, int idx, float value )
|
||||
{
|
||||
vmathQSetElem(result, idx, value);
|
||||
}
|
||||
|
||||
static inline float vmathQGetElem_V( VmathQuat quat, int idx )
|
||||
{
|
||||
return vmathQGetElem(&quat, idx);
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQAdd_V( VmathQuat quat0, VmathQuat quat1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQAdd(&result, &quat0, &quat1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQSub_V( VmathQuat quat0, VmathQuat quat1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQSub(&result, &quat0, &quat1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQScalarMul_V( VmathQuat quat, float scalar )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQScalarMul(&result, &quat, scalar);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQScalarDiv_V( VmathQuat quat, float scalar )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQScalarDiv(&result, &quat, scalar);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQNeg_V( VmathQuat quat )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQNeg(&result, &quat);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline float vmathQDot_V( VmathQuat quat0, VmathQuat quat1 )
|
||||
{
|
||||
return vmathQDot(&quat0, &quat1);
|
||||
}
|
||||
|
||||
static inline float vmathQNorm_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQNorm(&quat);
|
||||
}
|
||||
|
||||
static inline float vmathQLength_V( VmathQuat quat )
|
||||
{
|
||||
return vmathQLength(&quat);
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQNormalize_V( VmathQuat quat )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQNormalize(&result, &quat);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeRotationArc_V( VmathVector3 unitVec0, VmathVector3 unitVec1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeRotationArc(&result, &unitVec0, &unitVec1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeRotationAxis_V( float radians, VmathVector3 unitVec )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeRotationAxis(&result, radians, &unitVec);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeRotationX_V( float radians )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeRotationX(&result, radians);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeRotationY_V( float radians )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeRotationY(&result, radians);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMakeRotationZ_V( float radians )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMakeRotationZ(&result, radians);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQMul_V( VmathQuat quat0, VmathQuat quat1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQMul(&result, &quat0, &quat1);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathVector3 vmathQRotate_V( VmathQuat quat, VmathVector3 vec )
|
||||
{
|
||||
VmathVector3 result;
|
||||
vmathQRotate(&result, &quat, &vec);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQConj_V( VmathQuat quat )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQConj(&result, &quat);
|
||||
return result;
|
||||
}
|
||||
|
||||
static inline VmathQuat vmathQSelect_V( VmathQuat quat0, VmathQuat quat1, unsigned int select1 )
|
||||
{
|
||||
VmathQuat result;
|
||||
vmathQSelect(&result, &quat0, &quat1, select1);
|
||||
return result;
|
||||
}
|
||||
|
||||
#ifdef _VECTORMATH_DEBUG
|
||||
|
||||
static inline void vmathQPrint_V( VmathQuat quat )
|
||||
{
|
||||
vmathQPrint(&quat);
|
||||
}
|
||||
|
||||
static inline void vmathQPrints_V( VmathQuat quat, const char *name )
|
||||
{
|
||||
vmathQPrints(&quat, name);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif /* __cplusplus */
|
||||
|
||||
#endif
|
||||
|
||||
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
File diff suppressed because it is too large
Load Diff
Reference in New Issue
Block a user