// see http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/index.htm
void Matrix4x4_ToOrigin3Quat4Float(const matrix4x4_t *m, float *origin, float *quat)
{
+#if 0
float s;
quat[3] = sqrt(1.0f + m->m[0][0] + m->m[1][1] + m->m[2][2]) * 0.5f;
s = 0.25f / quat[3];
quat[1] = (m->m[0][2] - m->m[2][0]) * s;
quat[2] = (m->m[1][0] - m->m[0][1]) * s;
#endif
+
+#else
+
+#ifdef MATRIX4x4_OPENGLORIENTATION
+ float trace = m->m[0][0] + m->m[1][1] + m->m[2][2];
+ origin[0] = m->m[3][0];
+ origin[1] = m->m[3][1];
+ origin[2] = m->m[3][2];
+ if(trace > 0)
+ {
+ float r = sqrt(1.0f + trace), inv = 0.5f / r;
+ quat[0] = (m->m[1][2] - m->m[2][1]) * inv;
+ quat[1] = (m->m[2][0] - m->m[0][2]) * inv;
+ quat[2] = (m->m[0][1] - m->m[1][0]) * inv;
+ quat[3] = 0.5f * r;
+ }
+ else if(m->m[0][0] > m->m[1][1] && m->m[0][0] > m->m[2][2])
+ {
+ float r = sqrt(1.0f + m->m[0][0] - m->m[1][1] - m->m[2][2]), inv = 0.5f / r;
+ quat[0] = 0.5f * r;
+ quat[1] = (m->m[0][1] + m->m[1][0]) * inv;
+ quat[2] = (m->m[2][0] + m->m[0][2]) * inv;
+ quat[3] = (m->m[1][2] - m->m[2][1]) * inv;
+ }
+ else if(m->m[1][1] > m->m[2][2])
+ {
+ float r = sqrt(1.0f + m->m[1][1] - m->m[0][0] - m->m[2][2]), inv = 0.5f / r;
+ quat[0] = (m->m[0][1] + m->m[1][0]) * inv;
+ quat[1] = 0.5f * r;
+ quat[2] = (m->m[1][2] + m->m[2][1]) * inv;
+ quat[3] = (m->m[2][0] - m->m[0][2]) * inv;
+ }
+ else
+ {
+ float r = sqrt(1.0f + m->m[2][2] - m->m[0][0] - m->m[1][1]), inv = 0.5f / r;
+ quat[0] = (m->m[2][0] + m->m[0][2]) * inv;
+ quat[1] = (m->m[1][2] + m->m[2][1]) * inv;
+ quat[2] = 0.5f * r;
+ quat[3] = (m->m[0][1] - m->m[1][0]) * inv;
+ }
+#else
+ float trace = m->m[0][0] + m->m[1][1] + m->m[2][2];
+ origin[0] = m->m[0][3];
+ origin[1] = m->m[1][3];
+ origin[2] = m->m[2][3];
+ if(trace > 0)
+ {
+ float r = sqrt(1.0f + trace), inv = 0.5f / r;
+ quat[0] = (m->m[2][1] - m->m[1][2]) * inv;
+ quat[1] = (m->m[0][2] - m->m[2][0]) * inv;
+ quat[2] = (m->m[1][0] - m->m[0][1]) * inv;
+ quat[3] = 0.5f * r;
+ }
+ else if(m->m[0][0] > m->m[1][1] && m->m[0][0] > m->m[2][2])
+ {
+ float r = sqrt(1.0f + m->m[0][0] - m->m[1][1] - m->m[2][2]), inv = 0.5f / r;
+ quat[0] = 0.5f * r;
+ quat[1] = (m->m[1][0] + m->m[0][1]) * inv;
+ quat[2] = (m->m[0][2] + m->m[2][0]) * inv;
+ quat[3] = (m->m[2][1] - m->m[1][2]) * inv;
+ }
+ else if(m->m[1][1] > m->m[2][2])
+ {
+ float r = sqrt(1.0f + m->m[1][1] - m->m[0][0] - m->m[2][2]), inv = 0.5f / r;
+ quat[0] = (m->m[1][0] + m->m[0][1]) * inv;
+ quat[1] = 0.5f * r;
+ quat[2] = (m->m[2][1] + m->m[1][2]) * inv;
+ quat[3] = (m->m[0][2] - m->m[2][0]) * inv;
+ }
+ else
+ {
+ float r = sqrt(1.0f + m->m[2][2] - m->m[0][0] - m->m[1][1]), inv = 0.5f / r;
+ quat[0] = (m->m[0][2] + m->m[2][0]) * inv;
+ quat[1] = (m->m[2][1] + m->m[1][2]) * inv;
+ quat[2] = 0.5f * r;
+ quat[3] = (m->m[1][0] - m->m[0][1]) * inv;
+ }
+#endif
+
+#endif
}
// LordHavoc: I got this code from:
{
float origin[3];
float quat[4];
- float s;
+ float quatscale;
Matrix4x4_ToOrigin3Quat4Float(m, origin, quat);
// normalize quaternion so that it is unit length
- s = quat[0]*quat[0]+quat[1]*quat[1]+quat[2]*quat[2]+quat[3]*quat[3];
- if (s)
- {
- s = 1.0f / sqrt(s);
- quat[0] *= s;
- quat[1] *= s;
- quat[2] *= s;
- quat[3] *= s;
- }
+ quatscale = quat[0]*quat[0]+quat[1]*quat[1]+quat[2]*quat[2]+quat[3]*quat[3];
+ if (quatscale)
+ quatscale = (quat[3] >= 0 ? -32767.0f : 32767.0f) / sqrt(quatscale);
// use a negative scale on the quat because the above function produces a
// positive quat[3] and canonical quaternions have negative quat[3]
pose6s[0] = origin[0] * origininvscale;
pose6s[1] = origin[1] * origininvscale;
pose6s[2] = origin[2] * origininvscale;
- pose6s[3] = quat[0] * -32767.0f;
- pose6s[4] = quat[1] * -32767.0f;
- pose6s[5] = quat[2] * -32767.0f;
+ pose6s[3] = quat[0] * quatscale;
+ pose6s[4] = quat[1] * quatscale;
+ pose6s[5] = quat[2] * quatscale;
}
void Matrix4x4_Blend (matrix4x4_t *out, const matrix4x4_t *in1, const matrix4x4_t *in2, double blend)
#endif
}
+// transforms a positive distance plane (A*x+B*y+C*z-D=0) through a rotation or translation matrix
void Matrix4x4_TransformPositivePlane(const matrix4x4_t *in, float x, float y, float z, float d, float *o)
{
float scale = sqrt(in->m[0][0] * in->m[0][0] + in->m[0][1] * in->m[0][1] + in->m[0][2] * in->m[0][2]);
#endif
}
+// transforms a standard plane (A*x+B*y+C*z+D=0) through a rotation or translation matrix
void Matrix4x4_TransformStandardPlane(const matrix4x4_t *in, float x, float y, float z, float d, float *o)
{
float scale = sqrt(in->m[0][0] * in->m[0][0] + in->m[0][1] * in->m[0][1] + in->m[0][2] * in->m[0][2]);