+++ /dev/null
-/*
-Copyright (C) 2001-2006, William Joseph.
-All Rights Reserved.
-
-This file is part of GtkRadiant.
-
-GtkRadiant 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.
-
-GtkRadiant 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 GtkRadiant; if not, write to the Free Software
-Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
-*/
-
-#if !defined(INCLUDED_MATH_QUATERNION_H)
-#define INCLUDED_MATH_QUATERNION_H
-
-/// \file
-/// \brief Quaternion data types and related operations.
-
-#include "math/matrix.h"
-
-/// \brief A quaternion stored in single-precision floating-point.
-typedef Vector4 Quaternion;
-
-const Quaternion c_quaternion_identity(0, 0, 0, 1);
-
-inline Quaternion quaternion_multiplied_by_quaternion(const Quaternion& quaternion, const Quaternion& other)
-{
- return Quaternion(
- quaternion[3]*other[0] + quaternion[0]*other[3] + quaternion[1]*other[2] - quaternion[2]*other[1],
- quaternion[3]*other[1] + quaternion[1]*other[3] + quaternion[2]*other[0] - quaternion[0]*other[2],
- quaternion[3]*other[2] + quaternion[2]*other[3] + quaternion[0]*other[1] - quaternion[1]*other[0],
- quaternion[3]*other[3] - quaternion[0]*other[0] - quaternion[1]*other[1] - quaternion[2]*other[2]
- );
-}
-
-inline void quaternion_multiply_by_quaternion(Quaternion& quaternion, const Quaternion& other)
-{
- quaternion = quaternion_multiplied_by_quaternion(quaternion, other);
-}
-
-/// \brief Constructs a quaternion which rotates between two points on the unit-sphere, \p from and \p to.
-inline Quaternion quaternion_for_unit_vectors(const Vector3& from, const Vector3& to)
-{
- return Quaternion(vector3_cross(from, to), static_cast<float>(vector3_dot(from, to)));
-}
-
-inline Quaternion quaternion_for_axisangle(const Vector3& axis, double angle)
-{
- angle *= 0.5;
- float sa = static_cast<float>(sin(angle));
- return Quaternion(axis[0] * sa, axis[1] * sa, axis[2] * sa, static_cast<float>(cos(angle)));
-}
-
-inline Quaternion quaternion_for_x(double angle)
-{
- angle *= 0.5;
- return Quaternion(static_cast<float>(sin(angle)), 0, 0, static_cast<float>(cos(angle)));
-}
-
-inline Quaternion quaternion_for_y(double angle)
-{
- angle *= 0.5;
- return Quaternion(0, static_cast<float>(sin(angle)), 0, static_cast<float>(cos(angle)));
-}
-
-inline Quaternion quaternion_for_z(double angle)
-{
- angle *= 0.5;
- return Quaternion(0, 0, static_cast<float>(sin(angle)), static_cast<float>(cos(angle)));
-}
-
-inline Quaternion quaternion_inverse(const Quaternion& quaternion)
-{
- return Quaternion(vector3_negated(vector4_to_vector3(quaternion)), quaternion[3]);
-}
-
-inline void quaternion_conjugate(Quaternion& quaternion)
-{
- quaternion = quaternion_inverse(quaternion);
-}
-
-inline Quaternion quaternion_normalised(const Quaternion& quaternion)
-{
- const double n = (1.0 / (quaternion[0] * quaternion[0] + quaternion[1] * quaternion[1] + quaternion[2] * quaternion[2] + quaternion[3] * quaternion[3]));
- return Quaternion(
- static_cast<float>(quaternion[0] * n),
- static_cast<float>(quaternion[1] * n),
- static_cast<float>(quaternion[2] * n),
- static_cast<float>(quaternion[3] * n)
- );
-}
-
-inline void quaternion_normalise(Quaternion& quaternion)
-{
- quaternion = quaternion_normalised(quaternion);
-}
-
-/// \brief Constructs a pure-rotation matrix from \p quaternion.
-inline Matrix4 matrix4_rotation_for_quaternion(const Quaternion& quaternion)
-{
-#if 0
- const double xx = quaternion[0] * quaternion[0];
- const double xy = quaternion[0] * quaternion[1];
- const double xz = quaternion[0] * quaternion[2];
- const double xw = quaternion[0] * quaternion[3];
-
- const double yy = quaternion[1] * quaternion[1];
- const double yz = quaternion[1] * quaternion[2];
- const double yw = quaternion[1] * quaternion[3];
-
- const double zz = quaternion[2] * quaternion[2];
- const double zw = quaternion[2] * quaternion[3];
-
- return Matrix4(
- static_cast<float>( 1 - 2 * ( yy + zz ) ),
- static_cast<float>( 2 * ( xy + zw ) ),
- static_cast<float>( 2 * ( xz - yw ) ),
- 0,
- static_cast<float>( 2 * ( xy - zw ) ),
- static_cast<float>( 1 - 2 * ( xx + zz ) ),
- static_cast<float>( 2 * ( yz + xw ) ),
- 0,
- static_cast<float>( 2 * ( xz + yw ) ),
- static_cast<float>( 2 * ( yz - xw ) ),
- static_cast<float>( 1 - 2 * ( xx + yy ) ),
- 0,
- 0,
- 0,
- 0,
- 1
- );
-
-#else
- const double x2 = quaternion[0] + quaternion[0];
- const double y2 = quaternion[1] + quaternion[1];
- const double z2 = quaternion[2] + quaternion[2];
- const double xx = quaternion[0] * x2;
- const double xy = quaternion[0] * y2;
- const double xz = quaternion[0] * z2;
- const double yy = quaternion[1] * y2;
- const double yz = quaternion[1] * z2;
- const double zz = quaternion[2] * z2;
- const double wx = quaternion[3] * x2;
- const double wy = quaternion[3] * y2;
- const double wz = quaternion[3] * z2;
-
- return Matrix4(
- static_cast<float>( 1.0 - (yy + zz) ),
- static_cast<float>(xy + wz),
- static_cast<float>(xz - wy),
- 0,
- static_cast<float>(xy - wz),
- static_cast<float>( 1.0 - (xx + zz) ),
- static_cast<float>(yz + wx),
- 0,
- static_cast<float>(xz + wy),
- static_cast<float>(yz - wx),
- static_cast<float>( 1.0 - (xx + yy) ),
- 0,
- 0,
- 0,
- 0,
- 1
- );
-
-#endif
-}
-
-const double c_half_sqrt2 = 0.70710678118654752440084436210485;
-const float c_half_sqrt2f = static_cast<float>(c_half_sqrt2);
-
-inline bool quaternion_component_is_90(float component)
-{
- return (fabs(component) - c_half_sqrt2) < 0.001;
-}
-
-inline Matrix4 matrix4_rotation_for_quaternion_quantised(const Quaternion& quaternion)
-{
- if(quaternion.y() == 0
- && quaternion.z() == 0
- && quaternion_component_is_90(quaternion.x())
- && quaternion_component_is_90(quaternion.w()))
- {
- return matrix4_rotation_for_sincos_x((quaternion.x() > 0) ? 1.f : -1.f, 0);
- }
-
- if(quaternion.x() == 0
- && quaternion.z() == 0
- && quaternion_component_is_90(quaternion.y())
- && quaternion_component_is_90(quaternion.w()))
- {
- return matrix4_rotation_for_sincos_y((quaternion.y() > 0) ? 1.f : -1.f, 0);
- }
-
- if(quaternion.x() == 0
- && quaternion.y() == 0
- && quaternion_component_is_90(quaternion.z())
- && quaternion_component_is_90(quaternion.w()))
- {
- return matrix4_rotation_for_sincos_z((quaternion.z() > 0) ? 1.f : -1.f, 0);
- }
-
- return matrix4_rotation_for_quaternion(quaternion);
-}
-
-inline Quaternion quaternion_for_matrix4_rotation(const Matrix4& matrix4)
-{
- Matrix4 transposed = matrix4_transposed(matrix4);
-
- double trace = transposed[0] + transposed[5] + transposed[10] + 1.0;
-
- if(trace > 0.0001)
- {
- double S = 0.5 / sqrt(trace);
- return Quaternion(
- static_cast<float>((transposed[9] - transposed[6]) * S),
- static_cast<float>((transposed[2] - transposed[8]) * S),
- static_cast<float>((transposed[4] - transposed[1]) * S),
- static_cast<float>(0.25 / S)
- );
- }
-
- if(transposed[0] >= transposed[5] && transposed[0] >= transposed[10])
- {
- double S = 2.0 * sqrt(1.0 + transposed[0] - transposed[5] - transposed[10]);
- return Quaternion(
- static_cast<float>(0.25 / S),
- static_cast<float>((transposed[1] + transposed[4]) / S),
- static_cast<float>((transposed[2] + transposed[8]) / S),
- static_cast<float>((transposed[6] + transposed[9]) / S)
- );
- }
-
- if(transposed[5] >= transposed[0] && transposed[5] >= transposed[10])
- {
- double S = 2.0 * sqrt(1.0 + transposed[5] - transposed[0] - transposed[10]);
- return Quaternion(
- static_cast<float>((transposed[1] + transposed[4]) / S),
- static_cast<float>(0.25 / S),
- static_cast<float>((transposed[6] + transposed[9]) / S),
- static_cast<float>((transposed[2] + transposed[8]) / S)
- );
- }
-
- double S = 2.0 * sqrt(1.0 + transposed[10] - transposed[0] - transposed[5]);
- return Quaternion(
- static_cast<float>((transposed[2] + transposed[8]) / S),
- static_cast<float>((transposed[6] + transposed[9]) / S),
- static_cast<float>(0.25 / S),
- static_cast<float>((transposed[1] + transposed[4]) / S)
- );
-}
-
-/// \brief Returns \p self concatenated with the rotation transform produced by \p rotation.
-/// The concatenated rotation occurs before \p self.
-inline Matrix4 matrix4_rotated_by_quaternion(const Matrix4& self, const Quaternion& rotation)
-{
- return matrix4_multiplied_by_matrix4(self, matrix4_rotation_for_quaternion(rotation));
-}
-
-/// \brief Concatenates \p self with the rotation transform produced by \p rotation.
-/// The concatenated rotation occurs before \p self.
-inline void matrix4_rotate_by_quaternion(Matrix4& self, const Quaternion& rotation)
-{
- self = matrix4_rotated_by_quaternion(self, rotation);
-}
-
-/// \brief Rotates \p self by \p rotation, using \p pivotpoint.
-inline void matrix4_pivoted_rotate_by_quaternion(Matrix4& self, const Quaternion& rotation, const Vector3& pivotpoint)
-{
- matrix4_translate_by_vec3(self, pivotpoint);
- matrix4_rotate_by_quaternion(self, rotation);
- matrix4_translate_by_vec3(self, vector3_negated(pivotpoint));
-}
-
-inline Vector3 quaternion_transformed_point(const Quaternion& quaternion, const Vector3& point)
-{
- double xx = quaternion.x() * quaternion.x();
- double yy = quaternion.y() * quaternion.y();
- double zz = quaternion.z() * quaternion.z();
- double ww = quaternion.w() * quaternion.w();
-
- double xy2 = quaternion.x() * quaternion.y() * 2;
- double xz2 = quaternion.x() * quaternion.z() * 2;
- double xw2 = quaternion.x() * quaternion.w() * 2;
- double yz2 = quaternion.y() * quaternion.z() * 2;
- double yw2 = quaternion.y() * quaternion.w() * 2;
- double zw2 = quaternion.z() * quaternion.w() * 2;
-
- return Vector3(
- static_cast<float>(ww * point.x() + yw2 * point.z() - zw2 * point.y() + xx * point.x() + xy2 * point.y() + xz2 * point.z() - zz * point.x() - yy * point.x()),
- static_cast<float>(xy2 * point.x() + yy * point.y() + yz2 * point.z() + zw2 * point.x() - zz * point.y() + ww * point.y() - xw2 * point.z() - xx * point.y()),
- static_cast<float>(xz2 * point.x() + yz2 * point.y() + zz * point.z() - yw2 * point.x() - yy * point.z() + xw2 * point.y() - xx * point.z() + ww * point.z())
- );
-}
-
-/// \brief Constructs a pure-rotation transform from \p axis and \p angle (radians).
-inline Matrix4 matrix4_rotation_for_axisangle(const Vector3& axis, double angle)
-{
- return matrix4_rotation_for_quaternion(quaternion_for_axisangle(axis, angle));
-}
-
-/// \brief Rotates \p self about \p axis by \p angle.
-inline void matrix4_rotate_by_axisangle(Matrix4& self, const Vector3& axis, double angle)
-{
- matrix4_multiply_by_matrix4(self, matrix4_rotation_for_axisangle(axis, angle));
-}
-
-/// \brief Rotates \p self about \p axis by \p angle using \p pivotpoint.
-inline void matrix4_pivoted_rotate_by_axisangle(Matrix4& self, const Vector3& axis, double angle, const Vector3& pivotpoint)
-{
- matrix4_translate_by_vec3(self, pivotpoint);
- matrix4_rotate_by_axisangle(self, axis, angle);
- matrix4_translate_by_vec3(self, vector3_negated(pivotpoint));
-}
-
-
-#endif
projects / voretournament / voretournament.git / blobdiff