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/*
$Id: qmultiply.cc,v 1.23 2014/06/20 23:03:52 mp Exp $
AutoDock
Copyright (C) 2009 The Scripps Research Institute. All rights reserved.
AutoDock is a Trade Mark of The Scripps Research Institute.
This program is free software; you can redistribute it and/or
modify it under the terms of the GNU General Public License
as published by the Free Software Foundation; either version 2
of the License, or (at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program; if not, write to the Free Software
Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*/
#ifdef HAVE_CONFIG_H
#include <config.h>
#endif
#include <math.h>
#include <stdio.h>
#include <string.h>
#include <assert.h>
#include "qmultiply.h"
static Quat sidentityQuat = { 0., 0., 0., 1.}; // x,y,z,w const
static AxisAngle sidentityAxisAngle = { 1., 0., 0., 0.}; // x,y,z,angle const
void qmultiply( /* not const */ Quat *const q, //result
register const Quat *const ql, //left
register const Quat *const qr ) //right
/******************************************************************************/
/* Name: qmultiply */
/* Function: Quaternion Multiplication (Accelerated) */
/* [q] = [ql] [qr] */
/* [s1,v1][s2,v2] = [(s1*s2 - v1.v2), (s1*v2 + s2*v1 + v1^v2)] */
/* ~~ ~~ ~~ ~~ ~~ ~~ ~~ ~~ */
/*Copyright (C) 2009 The Scripps Research Institute. All rights reserved. */
/*----------------------------------------------------------------------------*/
/* Authors: Garrett M. Morris, The Scripps Research Institute. */
/* David Goodsell, TSRI */
/* Date: 12/03/92 */
/*----------------------------------------------------------------------------*/
/* Inputs: ql = rotation to be applied to quaternion in qr */
/*----------------------------------------------------------------------------*/
/* Modification Record */
/* Date Inits Comments */
/* 05/15/92 GMM Translated into C */
/* 12/03/92 GMM Changed '/2.' to '*0.5'; introduced 'hqwl' and 'hqwr'. */
/* 12/03/92 GMM Replaced rqtot by inv_qag; was '/rqtot', now '*inv_qag' */
/******************************************************************************/
{
register double x,y,z,w;
#ifdef ASSERTQUATOK
assertQuatOK(*ql);
assertQuatOK(*qr);
#endif
x = (double) (ql->w*qr->x + ql->x*qr->w + ql->y*qr->z - ql->z*qr->y);
y = (double) (ql->w*qr->y + ql->y*qr->w + ql->z*qr->x - ql->x*qr->z);
z = (double) (ql->w*qr->z + ql->z*qr->w + ql->x*qr->y - ql->y*qr->x);
w = (double) (ql->w*qr->w - ql->x*qr->x - ql->y*qr->y - ql->z*qr->z);
q->x = x;
q->y = y;
q->z = z;
q->w = w;
#ifdef ASSERTQUATOK
assertQuatOK(*q);
#endif
}
void qconjmultiply( Quat *const q,
const Quat *const ql,
const Quat *const qr )
// __
// q = ql . qr
{
#ifdef ASSERTQUATOK
assertQuatOK(*ql);
assertQuatOK(*qr);
#endif
Quat conj_ql = conjugate( *ql );
qmultiply( q, &conj_ql, qr );
#ifdef ASSERTQUATOK
assertQuatOK(conj_ql);
assertQuatOK(*q);
#endif
}
int
mkUnitQuat( Quat *const q )
// normalize in place, return 0 if error
{
double mag4 = hypotenuse4( q->x, q->y, q->z, q->w );
if (mag4 > APPROX_ZERO) {
double inv_mag = 1. / mag4;
q->x *= inv_mag; /* Normalize q */
q->y *= inv_mag; /* Normalize q */
q->z *= inv_mag; /* Normalize q */
q->w *= inv_mag; /* Normalize q */
#ifdef ASSERTQUATOK
assertQuatOK(*q);
#endif
return 1; // OK
}
else *q= sidentityQuat; // error
return 0;
}
void printQuat_q( FILE *const fp, const Quat& q )
{
(void) fprintf( fp, "Quat(x,y,z,w)= %5.2f %5.2f %5.2f %5.2f\n", q.x, q.y, q.z, q.w);
(void) fprintf( fp, "Mag(Quat(x,y,z,w))= %5.2f\n", sqrt(q.x*q.x + q.y*q.y + q.z*q.z + q.w*q.w) );
} // printQuat_q( Quat q )
void printQuat_r( FILE *const fp, const Quat& q )
{
AxisAngle aa = QuatToAxisAngle( q );
(void) fprintf( fp, "Axis(nx,ny,nz),Angle= %5.2f %5.2f %5.2f %5.2f\n",
aa.nx, aa.ny, aa.nz, aa.ang);
(void) fprintf( fp, "Mag(Axis(nx,ny,nz))= %5.2f\n",
hypotenuse(aa.nx, aa.ny, aa.nz));
} // printQuat_r( Quat q )
void printQuat( FILE *const fp, const Quat& q )
{
#ifdef ASSERTQUATOK
assertQuatOK(q);
#endif
printQuat_q( fp, q );
printQuat_r( fp, q );
} // printQuat( Quat q )
void debugQuat( FILE *fp, const Quat& q, const unsigned int linenumber, const char *const message )
{
pr( fp, "DEBUG_QUAT: %s (line %u)\n", message, linenumber );
printQuat( fp, q );
}
Quat normQuat( Quat q )
// return normalised copy of quaterion q
// or, if not normalisable, return identity quaternion
// see also mkUnitQuat which operates in place
{
if ( mkUnitQuat(&q) ) return q;
else return sidentityQuat; // error
}
/*
#define ONE_MINUS_EPSILON 0.999
#define ONE_PLUS_EPSILON 1.001
void assertQuatOK( const Quat q )
{
register double mag4 = hypotenuse4( q.x, q.y, q.z, q.w );
assert((mag4 > ONE_MINUS_EPSILON) && (mag4 < ONE_PLUS_EPSILON));
}
*/
/* this is in another header
#define assertQuatOK( q ) {register double aQOK_mag4 = hypotenuse4( (q).x, (q).y, (q).z, (q).w ); assert((aQOK_mag4 > ONE_MINUS_EPSILON) && (aQOK_mag4 < ONE_PLUS_EPSILON)); }
*/
AxisAngle normAxisAngle( const AxisAngle& aa )
// Normalise the 3D rotation axis or vector nx,ny,nz
{
AxisAngle ret;
double mag3 = hypotenuse( aa.nx, aa.ny, aa.nz );
if (mag3 > APPROX_ZERO) {
double inv_mag3 = 1. / mag3;
ret.nx = inv_mag3 * aa.nx;
ret.ny = inv_mag3 * aa.ny;
ret.nz = inv_mag3 * aa.nz;
ret.ang = aa.ang;
return ret;
}
else return sidentityAxisAngle;
}
Real quatDifferenceToAngle( const Quat& ql, const Quat& qr )
{
Quat qdiff;
qconjmultiply(&qdiff, &ql, &qr);
AxisAngle aa = QuatToAxisAngle(qdiff);
return aa.ang;
}
Real
quatDifferenceToAngleDeg( const Quat& ql, const Quat& qr )
{
return RadiansToDegrees(quatDifferenceToAngle( ql, qr ));
}
AxisAngle
QuatToAxisAngle( const Quat& q )
{
// Convert the quaternion components (x,y,z,w) of the quaternion q,
// to the corresponding rotation-about-axis components (nx,ny,nz,ang)
// Originally was named convertQuatToRot( )
Quat input = q;
AxisAngle retval;
// TODO handle big W! Singularities...
assert( fabs( input.w ) <= 1.001 );
if ( input.w > 1. ) input.w = 1.;
if ( input.w < -1. ) input.w = -1.;
if ( input.w == 1. || input.w == -1 ) return sidentityAxisAngle;
else {
register double angle = 2. * acos( input.w );
double inv_sin_half_angle = 1. / sin( angle / 2. );
retval.nx = input.x * inv_sin_half_angle;
retval.ny = input.y * inv_sin_half_angle;
retval.nz = input.z * inv_sin_half_angle;
// by convention, angles should be in the range -PI to +PI.
retval.ang = WrpModRad( angle );
return normAxisAngle(retval);
}
}
Quat
AxisAngleToQuat( const AxisAngle& aa )
{
// Normalize the rotation-about-axis vector
// and convert the rotation-about-axis components (nx,ny,nz,ang)
// to the corresponding quaternion components (x,y,z,w)
// Originally was named convertRotToQuat( )
double nmag, inv_nmag, hqang, s;
Quat q;
nmag = hypotenuse( aa.nx, aa.ny, aa.nz );
if ( nmag <= APPROX_ZERO) return sidentityQuat; // error
inv_nmag = 1. / nmag;
hqang = 0.5 * aa.ang;
s = sin( hqang );
q.x = s * aa.nx * inv_nmag; /* Normalize axis */
q.y = s * aa.ny * inv_nmag; /* Normalize axis */
q.z = s * aa.nz * inv_nmag; /* Normalize axis */
q.w = cos( hqang );
#ifdef ASSERTQUATOK
assertQuatOK(q);
#endif
return q;
}
Quat
raaToQuat( const Real raa[3], ConstReal angle ) // "Real"type signature
{
// input axis need not be normalized
AxisAngle input;
input.nx = raa[0];
input.ny = raa[1];
input.nz = raa[2];
input.ang = angle;
return AxisAngleToQuat( input );
}
Quat
raaDoubleToQuat( const double raa[3], const double angle ) // "double" type signature
{
// input axis need not be normalized
AxisAngle input;
input.nx = raa[0];
input.ny = raa[1];
input.nz = raa[2];
input.ang = angle;
return AxisAngleToQuat( input );
}
Quat
randomQuat( void )
{
// Generate a uniformly-distributed random quaternion (UDQ)
double x0, r1, r2, t1, t2; // for uniformly distributed quaternion calculation
Quat q;
/*
** This should produce a uniformly distributed quaternion, according to
** Shoemake, Graphics Gems III.6, pp.124-132, "Uniform Random Rotations",
** published by Academic Press, Inc., (1992)
*/
t1 = genunf(0., TWOPI);
// q.x = sin( t1 ) * ( r1 = ( (genunf(0., 1.) < 0.5) ? (-1.) : (+1.) ) * sqrt( 1. - (x0 = genunf(0., 1.)) ) ); // random sign version
q.x = sin( t1 ) * ( r1 = sqrt( 1. - (x0 = genunf(0., 1.)) ) ); // strict Shoemake version
q.y = cos( t1 ) * r1;
t2 = genunf(0., TWOPI);
// q.z = sin( t2 ) * ( r2 = ( (genunf(0., 1.) < 0.5) ? (-1.) : (+1.) ) * sqrt( x0 ) ); // random sign version
q.z = sin( t2 ) * ( r2 = sqrt( x0 ) ); // strict Shoemake version
q.w = cos( t2 ) * r2;
#ifdef ASSERTQUATOK
assertQuatOK(q);
#endif
return q;
}
Quat
randomQuatByAmount( ConstReal amount )
{
// returns a quaternion from a random axis and specified angle
// amount is an angle in radians
Quat q = randomQuat();
AxisAngle aa = QuatToAxisAngle( q ); // will not be 3-element normalized
return axisRadianToQuat( aa.nx, aa.ny, aa.nz, amount );
}
void print_q_reorient_message( FILE *const logFile, const Quat& q_reorient )
// Print message about q_reorient
{
pr( logFile, "\nRe-orienting the ligand using the following quaternion:\n");
pr( logFile, "NEWDPF reorient Quat %.3lf %.3lf %.3lf %.3lf\n",
q_reorient.x, q_reorient.y, q_reorient.z, q_reorient.w);
pr( logFile, "\n");
pr( logFile, "q_reorient:\n");
printQuat( logFile, q_reorient );
pr( logFile, "\n");
return;
} // Print message about q_reorient
Quat conjugate( const Quat& q )
{
Quat conj;
conj.x = -q.x;
conj.y = -q.y;
conj.z = -q.z;
conj.w = q.w;
return conj;
}
Quat inverse( const Quat& q )
{
register Quat conj, inv;
register double inv_squared_magnitude;
conj = conjugate( q );
inv_squared_magnitude = 1. / sqhypotenuse4( conj.x, conj.y, conj.z, conj.w );
inv.x = conj.x * inv_squared_magnitude;
inv.y = conj.y * inv_squared_magnitude;
inv.z = conj.z * inv_squared_magnitude;
inv.w = conj.w * inv_squared_magnitude;
return inv;
}
Quat slerp0( const Quat& q1, const Quat& q2, ConstDouble u )
// See: Shoemake, K. (1985), "Animating Rotation with Quaternion Curves",
// Computer Graphics, 19 (3): 245-254
//
// A formula for spherical linear interpolation from q1 to
// q2, with parameter u moving from 0 to 1.
{
Quat slerp;
assert( u >= 0. && u <= 1. );
// q1 . q2 = cos( theta)
double theta = acos( q1.x*q2.x + q1.y*q2.y + q1.z*q2.z + q1.w*q2.w );
double w1 = sin( (1. - u) * theta ) / sin( theta );
double w2 = sin( u * theta ) / sin( theta );
slerp.x = w1 * q1.x + w2 * q2.x;
slerp.y = w1 * q1.y + w2 * q2.y;
slerp.z = w1 * q1.z + w2 * q2.z;
slerp.w = w1 * q1.w + w2 * q2.w;
return slerp;
}
Quat slerp1( const Quat& qa, const Quat& qb, ConstDouble t )
// See Martin Baker's web site
// http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/slerp/index.htm
{
Quat qm; // quaternion to return
#ifdef ASSERTQUATOK
assertQuatOK(qa);
assertQuatOK(qb);
#endif
assert( t >= 0. && t <= 1. );
// Calculate angle between them.
double cosHalfTheta = qa.w * qb.w + qa.x * qb.x + qa.y * qb.y + qa.z * qb.z;
// if qa=qb or qa=-qb then theta = 0 and we can return qa
if (fabs(cosHalfTheta) >= 1.0){
qm.w = qa.w;qm.x = qa.x;qm.y = qa.y;qm.z = qa.z;
#ifdef ASSERTQUATOK
assertQuatOK(qm);
#endif
return qm;
}
// Calculate temporary values.
double halfTheta = acos(cosHalfTheta);
double sinHalfTheta = sqrt(1.0 - cosHalfTheta*cosHalfTheta);
// if theta = 180 degrees then result is not fully defined
// we could rotate around any axis normal to qa or qb
if (fabs(sinHalfTheta) < APPROX_ZERO) { // fabs is floating point absolute
qm.w = (qa.w * 0.5 + qb.w * 0.5);
qm.x = (qa.x * 0.5 + qb.x * 0.5);
qm.y = (qa.y * 0.5 + qb.y * 0.5);
qm.z = (qa.z * 0.5 + qb.z * 0.5);
#ifdef DEBUG_MUTATION
printQuat_q( logFile, qm );
fprintf( logFile, "slerp: WARNING! theta = 180 degrees " );
printQuat_q( logFile, qm );
fflush(logFile);
#endif
#ifdef ASSERTQUATOK
assertQuatOK(qm);
#endif
return qm;
}
double ratioA = sin((1 - t) * halfTheta) / sinHalfTheta;
double ratioB = sin(t * halfTheta) / sinHalfTheta;
//calculate Quaternion.
qm.w = qa.w * ratioA + qb.w * ratioB;
qm.x = qa.x * ratioA + qb.x * ratioB;
qm.y = qa.y * ratioA + qb.y * ratioB;
qm.z = qa.z * ratioA + qb.z * ratioB;
#ifdef ASSERTQUATOK
assertQuatOK(qm);
#endif
return qm;
}
Quat slerp( const Quat& qa, const Quat& qb, ConstDouble t )
// Adapted from code by John W. Ratcliff mailto:jratcliff@infiniplex.net
// See http://codesuppository.blogspot.com/2006/03/matrix-vector-and-quaternion-library.html
/*
**
** Copyright (c) 2007 by John W. Ratcliff mailto:jratcliff@infiniplex.net
**
** The MIT license:
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** copies of the Software, and to permit persons to whom the Software is furnished
** to do so, subject to the following conditions:
**
** The above copyright notice and this permission notice shall be included in all
** copies or substantial portions of the Software.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
** IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
** FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
** AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
** WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
** CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
**
*/
{
Quat qm; // quaternion to return
Quat qb_local;
double halfTheta, sinHalfTheta;
double ratioA, ratioB;
#ifdef ASSERTQUATOK
assertQuatOK(qa);
assertQuatOK(qb);
#endif
assert( t >= 0. && t <= 1. );
// Calculate angle between them.
double cosHalfTheta = qa.w * qb.w + qa.x * qb.x + qa.y * qb.y + qa.z * qb.z;
// Ensure we choose the shorter angular displacement between qa and qb:
if (cosHalfTheta < 0.) {
cosHalfTheta = -cosHalfTheta;
qb_local.w = -qb.w;
qb_local.x = -qb.x;
qb_local.y = -qb.y;
qb_local.z = -qb.z;
} else {
qb_local = qb;
}
#ifdef ASSERTQUATOK
assertQuatOK(qb_local);
#endif
// Calculate coefficients
if ((1. - cosHalfTheta) > 1e-6) {
// standard case (slerp)
halfTheta = acos(cosHalfTheta);
sinHalfTheta = sqrt(1.0 - cosHalfTheta*cosHalfTheta);
ratioA = sin((1 - t) * halfTheta) / sinHalfTheta;
ratioB = sin(t * halfTheta) / sinHalfTheta;
} else {
// qa and qb (qb_local) are very close, so we can do a linear interpolation
ratioA = 1 - t ;
ratioB = t;
}
// Calculate final values
qm.w = qa.w * ratioA + qb_local.w * ratioB;
qm.x = qa.x * ratioA + qb_local.x * ratioB;
qm.y = qa.y * ratioA + qb_local.y * ratioB;
qm.z = qa.z * ratioA + qb_local.z * ratioB;
#ifdef ASSERTQUATOK
assertQuatOK(qm);
#endif
return qm;
}
Quat axisRadianToQuat( ConstReal ax, ConstReal ay, ConstReal az, ConstReal angle )
{
// axis need not be normalized
Real raa[3];
raa[0]= ax;
raa[1]= ay;
raa[2]= az;
return raaToQuat( raa, angle );
}
Quat axisDegreeToQuat( ConstReal ax, ConstReal ay, ConstReal az, ConstReal angle )
{
// axis need not be normalized
return axisRadianToQuat( ax, ay, az, DegreesToRadians( angle ) );
}
Quat quatComponentsToQuat( ConstReal qx, ConstReal qy, ConstReal qz, ConstReal qw )
{
Quat Q;
Q.x = qx;
Q.y = qy;
Q.z = qz;
Q.w = qw;
return normQuat( Q );
}
Quat identityQuat() {
return sidentityQuat;
}
AxisAngle identityAxisAngle() {
return sidentityAxisAngle;
}
/* Radians */
#define ONE_ROTATION TWOPI // Degrees // #define ONE_ROTATION 360.
#define HALF_ROTATION PI // Degrees // #define HALF_ROTATION 180.
/* Angles that go from -half-a-rotation to half-a-rotation */
#define MIN_ANGLE -HALF_ROTATION // Angles that go from 0 to one-rotation // #define MIN_ANGLE 0.
#define MAX_ANGLE HALF_ROTATION // Angles that go from 0 to one-rotation // #define MAX_ANGLE ONE_ROTATION
Real a_range_reduction( ConstReal aa )
{
if (aa > MIN_ANGLE && aa<MAX_ANGLE) return aa;
Real a = aa;
while (a <= MIN_ANGLE) a += ONE_ROTATION;
while (a >= MAX_ANGLE) a -= ONE_ROTATION;
return a;
}
Real alerp( ConstReal aa, ConstReal bb, ConstReal fract )
{
// if fract==0, return a
// if fract==1, return b
Real a = a_range_reduction( aa );
Real b = a_range_reduction( bb );
Real delta = b - a;
if (delta > HALF_ROTATION) {
delta -= ONE_ROTATION;
} else if (delta < -HALF_ROTATION) {
delta += ONE_ROTATION;
}
return a_range_reduction( a + delta*fract );
}
/* test for alerp and a_range_reduction
int main() {
Real start = -ONE_ROTATION;
Real stop = ONE_ROTATION;
Real step = ONE_ROTATION/8.;
Real i, j;
for (i=start; i<stop; i=i+step) {
printf(" %.3f:\n", i);
for (j=start; j<stop; j=j+step) {
printf(" %6.3f %8.3f %8.3f %8.3f %8.3f %8.3f\n", j, alerp(i,j,0.0), alerp(i,j,0.1), alerp(i,j,0.5), alerp(i,j,0.9), alerp(i,j,1.0));
}
}
return 0;
}
*/
/* EOF */
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