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/*
This file is part of the Boson game
Copyright (C) 2002-2005 Andreas Beckermann (b_mann@gmx.de)
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., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "math/boquaternion.h"
#include "math/bomatrix.h"
#include "math/bo3dtoolsbase.h"
/***** BoQuaternion *****/
BoMatrix BoQuaternion::matrix() const
{
BoMatrix m;
const float x = mV[0];
const float y = mV[1];
const float z = mV[2];
const float xx = x * x;
const float yy = y * y;
const float zz = z * z;
const float xy = x * y;
const float xz = x * z;
const float xw = mW * x;
const float yz = y * z;
const float yw = mW * y;
const float zw = mW * z;
m.setElement(0, 0, 1.0f - 2.0f * (yy + zz));
m.setElement(1, 0, 2.0f * (xy + zw));
m.setElement(2, 0, 2.0f * (xz - yw));
m.setElement(0, 1, 2.0f * (xy - zw));
m.setElement(1, 1, 1.0f - 2.0f * (xx + zz));
m.setElement(2, 1, 2.0f * (yz + xw));
m.setElement(0, 2, 2.0f * (xz + yw));
m.setElement(1, 2, 2.0f * (yz - xw));
m.setElement(2, 2, 1.0f - 2.0f * (xx + yy));
return m;
}
float BoQuaternion::length() const
{
return (float)sqrt(mW * mW + mV[0] * mV[0] + mV[1] * mV[1] + mV[2] * mV[2]);
}
void BoQuaternion::setRotation(const BoVector3Float& direction_, const BoVector3Float& up_)
{
BoVector3Float dir(direction_);
BoVector3Float up(up_);
dir.normalize();
BoVector3Float x = BoVector3Float::crossProduct(up, dir);
BoVector3Float y = BoVector3Float::crossProduct(dir, x);
x.normalize();
y.normalize();
BoMatrix M;
M.setElement(0, 0, x[0]);
M.setElement(0, 1, x[1]);
M.setElement(0, 2, x[2]);
M.setElement(1, 0, y[0]);
M.setElement(1, 1, y[1]);
M.setElement(1, 2, y[2]);
M.setElement(2, 0, dir[0]);
M.setElement(2, 1, dir[1]);
M.setElement(2, 2, dir[2]);
setRotation(M);
}
void BoQuaternion::setRotation(float angle, const BoVector3Float& axis)
{
BoVector3Float normAxis = axis;
normAxis.normalize();
float sina = sin(Bo3dToolsBase::deg2rad(angle / 2));
mW = cos(Bo3dToolsBase::deg2rad(angle / 2));
mV.set(normAxis[0] * sina, normAxis[1] * sina, normAxis[2] * sina);
normalize();
}
void BoQuaternion::setRotation(float angleX, float angleY, float angleZ)
{
BoQuaternion x, y, z;
// one quaternion per axis
x.set((float)cos(Bo3dToolsBase::deg2rad(angleX/2)), BoVector3Float((float)sin(Bo3dToolsBase::deg2rad(angleX/2)), 0.0f, 0.0f));
y.set((float)cos(Bo3dToolsBase::deg2rad(angleY/2)), BoVector3Float(0.0f, (float)sin(Bo3dToolsBase::deg2rad(angleY/2)), 0.0f));
z.set((float)cos(Bo3dToolsBase::deg2rad(angleZ/2)), BoVector3Float(0.0f, 0.0f, (float)sin(Bo3dToolsBase::deg2rad(angleZ/2))));
x.multiply(y);
x.multiply(z);
set(x);
normalize();
}
void BoQuaternion::setRotation(const BoMatrix& rotationMatrix)
{
// See Q55 in the quat faq on http://www.j3d.org/matrix_faq/matrfaq_latest.html
// WARNING: although they refer to a column order matrix in Q54, they use _row_
// order here!
float x, y, z, w;
const float* m = rotationMatrix.data();
float t = 1.0f + m[0] + m[5] + m[10];
if (t > 0.0f)
{
float s = sqrtf(t) * 2.0f;
x = (m[6] - m[9]) / s;
y = (m[8] - m[2]) / s;
z = (m[1] - m[4]) / s;
w = 0.25f * s;
}
else if (m[0] > m[5] && m[0] > m[10])
{
float s = sqrtf(1.0 + m[0] - m[5] - m[10]) * 2.0f;
x = 0.25f * s;
y = (m[1] + m[4]) / s;
z = (m[8] + m[2]) / s;
w = (m[6] - m[9]) / s;
}
else if (m[5] > m[10])
{
float s = sqrtf(1.0 + m[5] - m[0] - m[10]) * 2.0f;
x = (m[1] + m[4]) / s;
y = 0.25f * s;
z = (m[6] + m[9]) / s;
w = (m[8] - m[2]) / s;
}
else
{
float s = sqrtf(1.0 + m[10] - m[0] - m[5]) * 2.0f;
x = (m[8] + m[2]) / s;
y = (m[6] + m[9]) / s;
z = 0.25f * s;
w = (m[1] - m[4]) / s;
}
mW = w;
mV.set(x, y, z);
}
void BoQuaternion::toRotation(float* angle, BoVector3Float* axis)
{
// see Q 57 in quat faq on http://www.j3d.org/matrix_faq/matrfaq_latest.html
if (!angle || !axis)
{
return;
}
normalize();
const float cosa = mW;
*angle = acos(cosa) * 2;
*angle = Bo3dToolsBase::rad2deg(*angle);
float sina = (float)sqrt(1.0 - cosa * cosa);
if (fabsf(sina) < 0.0005)
{
sina = 1.0f;
}
axis->set(mV.x() / sina, mV.y() / sina, mV.z() / sina);
}
void BoQuaternion::toRotation(float* alpha, float* beta, float* gamma)
{
if (!alpha || !beta || !gamma)
{
return;
}
BoMatrix m = matrix();
m.toRotation(alpha, beta, gamma);
}
void BoQuaternion::transform(BoVector3Float* v, const BoVector3Float* input) const
{
BoQuaternion q = BoQuaternion(0, *input);
BoQuaternion tmp = BoQuaternion::multiply(*this, q);
// we assume this is a unit quaternion, then the inverse is equal to the
// conjugate
tmp.multiply(conjugate());
v->set(tmp.mV);
}
/*
* vim:et sw=2
*/
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