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ejcoumans
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/*
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Copyright (C) 2006, 2007 Sony Computer Entertainment Inc.
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All rights reserved.
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Redistribution and use in source and binary forms,
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||||
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_CPP_H
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#define _VECTORMATH_QUAT_AOS_CPP_H
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//-----------------------------------------------------------------------------
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// Definitions
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#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
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#define _VECTORMATH_INTERNAL_FUNCTIONS
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#endif
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namespace Vectormath {
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namespace Aos {
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inline Quat::Quat( const Quat & 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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}
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inline Quat::Quat( 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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}
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inline Quat::Quat( const Vector3 & 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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}
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inline Quat::Quat( const Vector4 & 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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}
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inline Quat::Quat( 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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}
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inline const Quat Quat::identity( )
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{
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return Quat( 0.0f, 0.0f, 0.0f, 1.0f );
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}
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inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 )
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{
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return ( quat0 + ( ( quat1 - quat0 ) * t ) );
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}
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inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 )
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{
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Quat start;
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float recipSinAngle, scale0, scale1, cosAngle, angle;
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cosAngle = dot( unitQuat0, unitQuat1 );
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if ( cosAngle < 0.0f ) {
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cosAngle = -cosAngle;
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start = ( -unitQuat0 );
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} else {
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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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return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) );
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}
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inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 )
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{
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Quat tmp0, tmp1;
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tmp0 = slerp( t, unitQuat0, unitQuat3 );
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tmp1 = slerp( t, unitQuat1, unitQuat2 );
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return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 );
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}
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inline Quat & Quat::operator =( const Quat & 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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}
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inline Quat & Quat::setXYZ( const Vector3 & 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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}
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inline const Vector3 Quat::getXYZ( ) const
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{
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return Vector3( mX, mY, mZ );
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}
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inline Quat & Quat::setX( float _x )
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{
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mX = _x;
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return *this;
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}
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inline float Quat::getX( ) const
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{
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return mX;
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}
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inline Quat & Quat::setY( float _y )
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{
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mY = _y;
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return *this;
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}
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inline float Quat::getY( ) const
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{
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return mY;
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}
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inline Quat & Quat::setZ( float _z )
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{
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mZ = _z;
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return *this;
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}
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inline float Quat::getZ( ) const
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{
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return mZ;
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}
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inline Quat & Quat::setW( float _w )
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{
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mW = _w;
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return *this;
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}
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inline float Quat::getW( ) const
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{
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return mW;
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}
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inline Quat & Quat::setElem( int idx, float value )
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{
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*(&mX + idx) = value;
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return *this;
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}
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inline float Quat::getElem( int idx ) const
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{
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return *(&mX + idx);
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}
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inline float & Quat::operator []( int idx )
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{
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return *(&mX + idx);
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}
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inline float Quat::operator []( int idx ) const
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{
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return *(&mX + idx);
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}
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inline const Quat Quat::operator +( const Quat & quat ) const
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{
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return Quat(
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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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}
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inline const Quat Quat::operator -( const Quat & quat ) const
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{
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return Quat(
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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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}
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inline const Quat Quat::operator *( float scalar ) const
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{
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return Quat(
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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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}
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inline Quat & Quat::operator +=( const Quat & quat )
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{
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*this = *this + quat;
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return *this;
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}
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inline Quat & Quat::operator -=( const Quat & quat )
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{
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*this = *this - quat;
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return *this;
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}
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inline Quat & Quat::operator *=( float scalar )
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{
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*this = *this * scalar;
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return *this;
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}
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inline const Quat Quat::operator /( float scalar ) const
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{
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return Quat(
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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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}
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inline Quat & Quat::operator /=( float scalar )
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{
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*this = *this / scalar;
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return *this;
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}
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inline const Quat Quat::operator -( ) const
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{
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return Quat(
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-mX,
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-mY,
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-mZ,
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-mW
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);
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}
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inline const Quat operator *( float scalar, const Quat & quat )
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{
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return quat * scalar;
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}
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inline float dot( const Quat & quat0, const Quat & quat1 )
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{
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float result;
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result = ( quat0.getX() * quat1.getX() );
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result = ( result + ( quat0.getY() * quat1.getY() ) );
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result = ( result + ( quat0.getZ() * quat1.getZ() ) );
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result = ( result + ( quat0.getW() * quat1.getW() ) );
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return result;
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}
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inline float norm( const Quat & quat )
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{
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float result;
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result = ( quat.getX() * quat.getX() );
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result = ( result + ( quat.getY() * quat.getY() ) );
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result = ( result + ( quat.getZ() * quat.getZ() ) );
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result = ( result + ( quat.getW() * quat.getW() ) );
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return result;
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}
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inline float length( const Quat & quat )
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{
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return sqrtf( norm( quat ) );
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}
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inline const Quat normalize( const Quat & quat )
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{
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float lenSqr, lenInv;
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lenSqr = norm( quat );
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lenInv = ( 1.0f / sqrtf( lenSqr ) );
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return Quat(
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( quat.getX() * lenInv ),
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( quat.getY() * lenInv ),
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( quat.getZ() * lenInv ),
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( quat.getW() * lenInv )
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);
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}
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inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 )
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{
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float cosHalfAngleX2, recipCosHalfAngleX2;
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cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) );
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recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 );
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return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) );
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}
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inline const Quat Quat::rotation( float radians, const Vector3 & unitVec )
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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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return Quat( ( unitVec * s ), c );
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}
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inline const Quat Quat::rotationX( 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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return Quat( s, 0.0f, 0.0f, c );
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}
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inline const Quat Quat::rotationY( 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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return Quat( 0.0f, s, 0.0f, c );
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}
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inline const Quat Quat::rotationZ( 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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return Quat( 0.0f, 0.0f, s, c );
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}
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inline const Quat Quat::operator *( const Quat & quat ) const
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{
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return Quat(
|
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( ( ( ( mW * quat.mX ) + ( mX * quat.mW ) ) + ( mY * quat.mZ ) ) - ( mZ * quat.mY ) ),
|
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( ( ( ( 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 ) )
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||||
);
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||||
}
|
||||
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||||
inline Quat & Quat::operator *=( const Quat & quat )
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||||
{
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*this = *this * quat;
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return *this;
|
||||
}
|
||||
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||||
inline const Vector3 rotate( const Quat & quat, const Vector3 & vec )
|
||||
{
|
||||
float tmpX, tmpY, tmpZ, tmpW;
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||||
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 )
|
||||
{
|
||||
printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
|
||||
}
|
||||
|
||||
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() );
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace Aos
|
||||
} // namespace Vectormath
|
||||
|
||||
#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_CPP_H
|
||||
#define _VECTORMATH_QUAT_AOS_CPP_H
|
||||
//-----------------------------------------------------------------------------
|
||||
// Definitions
|
||||
|
||||
#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
#define _VECTORMATH_INTERNAL_FUNCTIONS
|
||||
|
||||
#endif
|
||||
|
||||
namespace Vectormath {
|
||||
namespace Aos {
|
||||
|
||||
inline Quat::Quat( const Quat & quat )
|
||||
{
|
||||
mX = quat.mX;
|
||||
mY = quat.mY;
|
||||
mZ = quat.mZ;
|
||||
mW = quat.mW;
|
||||
}
|
||||
|
||||
inline Quat::Quat( float _x, float _y, float _z, float _w )
|
||||
{
|
||||
mX = _x;
|
||||
mY = _y;
|
||||
mZ = _z;
|
||||
mW = _w;
|
||||
}
|
||||
|
||||
inline Quat::Quat( const Vector3 & xyz, float _w )
|
||||
{
|
||||
this->setXYZ( xyz );
|
||||
this->setW( _w );
|
||||
}
|
||||
|
||||
inline Quat::Quat( const Vector4 & vec )
|
||||
{
|
||||
mX = vec.getX();
|
||||
mY = vec.getY();
|
||||
mZ = vec.getZ();
|
||||
mW = vec.getW();
|
||||
}
|
||||
|
||||
inline Quat::Quat( float scalar )
|
||||
{
|
||||
mX = scalar;
|
||||
mY = scalar;
|
||||
mZ = scalar;
|
||||
mW = 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 Quat & Quat::operator =( const Quat & quat )
|
||||
{
|
||||
mX = quat.mX;
|
||||
mY = quat.mY;
|
||||
mZ = quat.mZ;
|
||||
mW = quat.mW;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setXYZ( const Vector3 & vec )
|
||||
{
|
||||
mX = vec.getX();
|
||||
mY = vec.getY();
|
||||
mZ = vec.getZ();
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Vector3 Quat::getXYZ( ) const
|
||||
{
|
||||
return Vector3( mX, mY, mZ );
|
||||
}
|
||||
|
||||
inline Quat & Quat::setX( float _x )
|
||||
{
|
||||
mX = _x;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getX( ) const
|
||||
{
|
||||
return mX;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setY( float _y )
|
||||
{
|
||||
mY = _y;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getY( ) const
|
||||
{
|
||||
return mY;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setZ( float _z )
|
||||
{
|
||||
mZ = _z;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getZ( ) const
|
||||
{
|
||||
return mZ;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setW( float _w )
|
||||
{
|
||||
mW = _w;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getW( ) const
|
||||
{
|
||||
return mW;
|
||||
}
|
||||
|
||||
inline Quat & Quat::setElem( int idx, float value )
|
||||
{
|
||||
*(&mX + idx) = value;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline float Quat::getElem( int idx ) const
|
||||
{
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline float & Quat::operator []( int idx )
|
||||
{
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline float Quat::operator []( int idx ) const
|
||||
{
|
||||
return *(&mX + idx);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator +( const Quat & quat ) const
|
||||
{
|
||||
return Quat(
|
||||
( mX + quat.mX ),
|
||||
( mY + quat.mY ),
|
||||
( mZ + quat.mZ ),
|
||||
( mW + quat.mW )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( const Quat & quat ) const
|
||||
{
|
||||
return Quat(
|
||||
( mX - quat.mX ),
|
||||
( mY - quat.mY ),
|
||||
( mZ - quat.mZ ),
|
||||
( mW - quat.mW )
|
||||
);
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator *( float scalar ) const
|
||||
{
|
||||
return Quat(
|
||||
( mX * scalar ),
|
||||
( mY * scalar ),
|
||||
( mZ * scalar ),
|
||||
( mW * 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(
|
||||
( mX / scalar ),
|
||||
( mY / scalar ),
|
||||
( mZ / scalar ),
|
||||
( mW / scalar )
|
||||
);
|
||||
}
|
||||
|
||||
inline Quat & Quat::operator /=( float scalar )
|
||||
{
|
||||
*this = *this / scalar;
|
||||
return *this;
|
||||
}
|
||||
|
||||
inline const Quat Quat::operator -( ) const
|
||||
{
|
||||
return Quat(
|
||||
-mX,
|
||||
-mY,
|
||||
-mZ,
|
||||
-mW
|
||||
);
|
||||
}
|
||||
|
||||
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(
|
||||
( ( ( ( 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 & 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 )
|
||||
{
|
||||
printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
|
||||
}
|
||||
|
||||
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() );
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace Aos
|
||||
} // namespace Vectormath
|
||||
|
||||
#endif
|
||||
|
||||
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