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Cleaned up the getRotate implementation selection using #defines, and made the

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COMPILE_getRotate_David_Spillings_Mk1 the default.
This commit is contained in:
Robert Osfield
2007-08-27 10:00:09 +00:00
parent 5817d4c83e
commit 5ce34fd7f3
1 changed files with 115 additions and 111 deletions
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226
src/osg/Matrix_implementation.cpp
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@@ -125,8 +125,74 @@ void Matrix_implementation::setRotate(const Quat& q_in)
#endif
}
#if 1
#define COMPILE_getRotate_David_Spillings_Mk1
//#define COMPILE_getRotate_David_Spillings_Mk2
//#define COMPILE_getRotate_Original
#ifdef COMPILE_getRotate_David_Spillings_Mk1
// David Spillings implementation Mk 1
Quat Matrix_implementation::getRotate() const
{
Quat q;
value_type s;
value_type tq[4];
int i, j;
// Use tq to store the largest trace
tq[0] = 1 + _mat[0][0]+_mat[1][1]+_mat[2][2];
tq[1] = 1 + _mat[0][0]-_mat[1][1]-_mat[2][2];
tq[2] = 1 - _mat[0][0]+_mat[1][1]-_mat[2][2];
tq[3] = 1 - _mat[0][0]-_mat[1][1]+_mat[2][2];
// Find the maximum (could also use stacked if's later)
j = 0;
for(i=1;i<4;i++) j = (tq[i]>tq[j])? i : j;
// check the diagonal
if (j==0)
{
/* perform instant calculation */
QW = tq[0];
QX = _mat[1][2]-_mat[2][1];
QY = _mat[2][0]-_mat[0][2];
QZ = _mat[0][1]-_mat[1][0];
}
else if (j==1)
{
QW = _mat[1][2]-_mat[2][1];
QX = tq[1];
QY = _mat[0][1]+_mat[1][0];
QZ = _mat[2][0]+_mat[0][2];
}
else if (j==2)
{
QW = _mat[2][0]-_mat[0][2];
QX = _mat[0][1]+_mat[1][0];
QY = tq[2];
QZ = _mat[1][2]+_mat[2][1];
}
else /* if (j==3) */
{
QW = _mat[0][1]-_mat[1][0];
QX = _mat[2][0]+_mat[0][2];
QY = _mat[1][2]+_mat[2][1];
QZ = tq[3];
}
s = sqrt(0.25/tq[j]);
QW *= s;
QX *= s;
QY *= s;
QZ *= s;
return q;
}
#endif
#ifdef COMPILE_getRotate_David_Spillings_Mk2
// David Spillings implementation Mk 2
Quat Matrix_implementation::getRotate() const
{
@@ -151,128 +217,66 @@ Quat Matrix_implementation::getRotate() const
return q;
}
#endif
#else
#ifdef COMPILE_getRotate_Original
// Original implementation
Quat Matrix_implementation::getRotate() const
{
Quat q;
#if 1
// David Spillings implementation Mk 1
Quat Matrix_implementation::getRotate() const
// Source: Gamasutra, Rotating Objects Using Quaternions
//
//http://www.gamasutra.com/features/programming/19980703/quaternions_01.htm
value_type tr, s;
value_type tq[4];
int i, j, k;
int nxt[3] = {1, 2, 0};
tr = _mat[0][0] + _mat[1][1] + _mat[2][2]+1.0;
// check the diagonal
if (tr > 0.0)
{
Quat q;
value_type s;
value_type tq[4];
int i, j;
// Use tq to store the largest trace
tq[0] = 1 + _mat[0][0]+_mat[1][1]+_mat[2][2];
tq[1] = 1 + _mat[0][0]-_mat[1][1]-_mat[2][2];
tq[2] = 1 - _mat[0][0]+_mat[1][1]-_mat[2][2];
tq[3] = 1 - _mat[0][0]-_mat[1][1]+_mat[2][2];
// Find the maximum (could also use stacked if's later)
j = 0;
for(i=1;i<4;i++) j = (tq[i]>tq[j])? i : j;
// check the diagonal
if (j==0)
{
/* perform instant calculation */
QW = tq[0];
QX = _mat[1][2]-_mat[2][1];
QY = _mat[2][0]-_mat[0][2];
QZ = _mat[0][1]-_mat[1][0];
}
else if (j==1)
{
QW = _mat[1][2]-_mat[2][1];
QX = tq[1];
QY = _mat[0][1]+_mat[1][0];
QZ = _mat[2][0]+_mat[0][2];
}
else if (j==2)
{
QW = _mat[2][0]-_mat[0][2];
QX = _mat[0][1]+_mat[1][0];
QY = tq[2];
QZ = _mat[1][2]+_mat[2][1];
}
else /* if (j==3) */
{
QW = _mat[0][1]-_mat[1][0];
QX = _mat[2][0]+_mat[0][2];
QY = _mat[1][2]+_mat[2][1];
QZ = tq[3];
}
s = sqrt(0.25/tq[j]);
QW *= s;
QX *= s;
QY *= s;
QZ *= s;
return q;
s = (value_type)sqrt (tr);
QW = s / 2.0;
s = 0.5 / s;
QX = (_mat[1][2] - _mat[2][1]) * s;
QY = (_mat[2][0] - _mat[0][2]) * s;
QZ = (_mat[0][1] - _mat[1][0]) * s;
}
#else
// Original implementation
Quat Matrix_implementation::getRotate() const
else
{
Quat q;
// diagonal is negative
i = 0;
if (_mat[1][1] > _mat[0][0])
i = 1;
if (_mat[2][2] > _mat[i][i])
i = 2;
j = nxt[i];
k = nxt[j];
// Source: Gamasutra, Rotating Objects Using Quaternions
//
//http://www.gamasutra.com/features/programming/19980703/quaternions_01.htm
s = (value_type)sqrt ((_mat[i][i] - (_mat[j][j] + _mat[k][k])) + 1.0);
value_type tr, s;
value_type tq[4];
int i, j, k;
tq[i] = s * 0.5;
int nxt[3] = {1, 2, 0};
tr = _mat[0][0] + _mat[1][1] + _mat[2][2]+1.0;
// check the diagonal
if (tr > 0.0)
{
s = (value_type)sqrt (tr);
QW = s / 2.0;
if (s != 0.0)
s = 0.5 / s;
QX = (_mat[1][2] - _mat[2][1]) * s;
QY = (_mat[2][0] - _mat[0][2]) * s;
QZ = (_mat[0][1] - _mat[1][0]) * s;
}
else
{
// diagonal is negative
i = 0;
if (_mat[1][1] > _mat[0][0])
i = 1;
if (_mat[2][2] > _mat[i][i])
i = 2;
j = nxt[i];
k = nxt[j];
s = (value_type)sqrt ((_mat[i][i] - (_mat[j][j] + _mat[k][k])) + 1.0);
tq[3] = (_mat[j][k] - _mat[k][j]) * s;
tq[j] = (_mat[i][j] + _mat[j][i]) * s;
tq[k] = (_mat[i][k] + _mat[k][i]) * s;
tq[i] = s * 0.5;
if (s != 0.0)
s = 0.5 / s;
tq[3] = (_mat[j][k] - _mat[k][j]) * s;
tq[j] = (_mat[i][j] + _mat[j][i]) * s;
tq[k] = (_mat[i][k] + _mat[k][i]) * s;
QX = tq[0];
QY = tq[1];
QZ = tq[2];
QW = tq[3];
}
return q;
QX = tq[0];
QY = tq[1];
QZ = tq[2];
QW = tq[3];
}
#endif
return q;
}
#endif
int Matrix_implementation::compare(const Matrix_implementation& m) const