a4e4d4fa7c
under Windows and IRIX. Also integrated small change to lib3ds from Drew for IRIX compilation.
393 lines
6.3 KiB
C++
393 lines
6.3 KiB
C++
/*
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* The 3D Studio File Format Library
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* Copyright (C) 1996-2001 by J.E. Hoffmann <je-h@gmx.net>
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* All rights reserved.
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*
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* This program is free software; you can redistribute it and/or modify it
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* under the terms of the GNU Lesser General Public License as published by
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* the Free Software Foundation; either version 2.1 of the License, or (at
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* your option) any later version.
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*
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* This program is distributed in the hope that it will be useful, but
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* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
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* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public
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* License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public License
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* along with this program; if not, write to the Free Software Foundation,
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* Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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*
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* $Id$
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*/
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#define LIB3DS_EXPORT
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#include <quat.h>
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#include <math.h>
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/*!
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* \defgroup quat Quaternion Mathematics
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*
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* \author J.E. Hoffmann <je-h@gmx.net>
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*/
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/*!
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* \typedef Lib3dsQuat
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* \ingroup quat
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*/
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_zero(Lib3dsQuat c)
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{
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c[0]=c[1]=c[2]=c[3]=0.0f;
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_identity(Lib3dsQuat c)
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{
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c[0]=c[1]=c[2]=0.0f;
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c[3]=1.0f;
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_copy(Lib3dsQuat dest, Lib3dsQuat src)
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{
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int i;
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for (i=0; i<4; ++i) {
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dest[i]=src[i];
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}
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_axis_angle(Lib3dsQuat c, Lib3dsVector axis, Lib3dsFloat angle)
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{
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Lib3dsDouble omega,s;
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Lib3dsDouble l;
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l=sqrt(axis[0]*axis[0] + axis[1]*axis[1] + axis[2]*axis[2]);
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if (l<LIB3DS_EPSILON) {
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c[0]=c[1]=c[2]=0.0f;
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c[3]=1.0f;
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}
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else {
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omega=-0.5*angle;
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s=sin(omega)/l;
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c[0]=(Lib3dsFloat)s*axis[0];
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c[1]=(Lib3dsFloat)s*axis[1];
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c[2]=(Lib3dsFloat)s*axis[2];
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c[3]=(Lib3dsFloat)cos(omega);
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}
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_neg(Lib3dsQuat c)
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{
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int i;
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for (i=0; i<4; ++i) {
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c[i]=-c[i];
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}
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_abs(Lib3dsQuat c)
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{
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int i;
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for (i=0; i<4; ++i) {
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c[i]=(Lib3dsFloat)fabs(c[i]);
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}
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_cnj(Lib3dsQuat c)
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{
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int i;
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for (i=0; i<3; ++i) {
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c[i]=-c[i];
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}
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_mul(Lib3dsQuat c, Lib3dsQuat a, Lib3dsQuat b)
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{
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c[0]=a[3]*b[0] + a[0]*b[3] + a[1]*b[2] - a[2]*b[1];
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c[1]=a[3]*b[1] + a[1]*b[3] + a[2]*b[0] - a[0]*b[2];
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c[2]=a[3]*b[2] + a[2]*b[3] + a[0]*b[1] - a[1]*b[0];
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c[3]=a[3]*b[3] - a[0]*b[0] - a[1]*b[1] - a[2]*b[2];
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_scalar(Lib3dsQuat c, Lib3dsFloat k)
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{
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int i;
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for (i=0; i<4; ++i) {
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c[i]*=k;
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}
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_normalize(Lib3dsQuat c)
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{
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Lib3dsDouble l,m;
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l=sqrt(c[0]*c[0] + c[1]*c[1] + c[2]*c[2] + c[3]*c[3]);
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if (fabs(l)<LIB3DS_EPSILON) {
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c[0]=c[1]=c[2]=0.0f;
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c[3]=1.0f;
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}
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else {
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int i;
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m=1.0f/l;
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for (i=0; i<4; ++i) {
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c[i]=(Lib3dsFloat)(c[i]*m);
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}
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}
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_inv(Lib3dsQuat c)
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{
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Lib3dsDouble l,m;
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l=sqrt(c[0]*c[0] + c[1]*c[1] + c[2]*c[2] + c[3]*c[3]);
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if (fabs(l)<LIB3DS_EPSILON) {
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c[0]=c[1]=c[2]=0.0f;
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c[3]=1.0f;
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}
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else {
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m=1.0f/l;
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c[0]=(Lib3dsFloat)(-c[0]*m);
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c[1]=(Lib3dsFloat)(-c[1]*m);
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c[2]=(Lib3dsFloat)(-c[2]*m);
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c[3]=(Lib3dsFloat)(c[3]*m);
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}
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}
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/*!
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* \ingroup quat
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*/
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Lib3dsFloat
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lib3ds_quat_dot(Lib3dsQuat a, Lib3dsQuat b)
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{
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return(a[0]*b[0] + a[1]*b[1] + a[2]*b[2] + a[3]*b[3]);
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}
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/*!
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* \ingroup quat
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*/
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Lib3dsFloat
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lib3ds_quat_squared(Lib3dsQuat c)
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{
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return(c[0]*c[0] + c[1]*c[1] + c[2]*c[2] + c[3]*c[3]);
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}
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/*!
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* \ingroup quat
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*/
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Lib3dsFloat
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lib3ds_quat_length(Lib3dsQuat c)
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{
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return((Lib3dsFloat)sqrt(c[0]*c[0] + c[1]*c[1] + c[2]*c[2] + c[3]*c[3]));
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_ln(Lib3dsQuat c)
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{
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Lib3dsDouble om,s,t;
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s=sqrt(c[0]*c[0] + c[1]*c[1] + c[2]*c[2]);
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om=atan2(s,(Lib3dsDouble)c[3]);
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if (fabs(s)<LIB3DS_EPSILON) {
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t=0.0f;
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}
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else {
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t=om/s;
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}
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{
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int i;
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for (i=0; i<3; ++i) {
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c[i]=(Lib3dsFloat)(c[i]*t);
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}
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c[3]=0.0f;
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}
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_ln_dif(Lib3dsQuat c, Lib3dsQuat a, Lib3dsQuat b)
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{
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Lib3dsQuat invp;
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lib3ds_quat_copy(invp, a);
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lib3ds_quat_inv(invp);
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lib3ds_quat_mul(c, invp, b);
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lib3ds_quat_ln(c);
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_exp(Lib3dsQuat c)
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{
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Lib3dsDouble om,sinom;
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om=sqrt(c[0]*c[0] + c[1]*c[1] + c[2]*c[2]);
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if (fabs(om)<LIB3DS_EPSILON) {
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sinom=1.0f;
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}
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else {
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sinom=sin(om)/om;
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}
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{
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int i;
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for (i=0; i<3; ++i) {
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c[i]=(Lib3dsFloat)(c[i]*sinom);
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}
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c[3]=(Lib3dsFloat)cos(om);
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}
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_slerp(Lib3dsQuat c, Lib3dsQuat a, Lib3dsQuat b, Lib3dsFloat t)
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{
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Lib3dsDouble l;
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Lib3dsDouble om,sinom;
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Lib3dsDouble sp,sq;
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Lib3dsQuat q;
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l=a[0]*b[0] + a[1]*b[1] + a[2]*b[2] + a[3]*b[3];
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if ((1.0+l)>LIB3DS_EPSILON) {
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if (fabs(l)>1.0f) l/=fabs(l);
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om=acos(l);
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sinom=sin(om);
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if (fabs(sinom)>LIB3DS_EPSILON) {
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sp=sin((1.0f-t)*om)/sinom;
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sq=sin(t*om)/sinom;
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}
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else {
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sp=1.0f-t;
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sq=t;
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}
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c[0]=(Lib3dsFloat)(sp*a[0] + sq*b[0]);
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c[1]=(Lib3dsFloat)(sp*a[1] + sq*b[1]);
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c[2]=(Lib3dsFloat)(sp*a[2] + sq*b[2]);
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c[3]=(Lib3dsFloat)(sp*a[3] + sq*b[3]);
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}
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else {
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q[0]=-a[1];
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q[1]=a[0];
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q[2]=-a[3];
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q[3]=a[2];
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sp=sin((1.0-t)*LIB3DS_HALFPI);
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sq=sin(t*LIB3DS_HALFPI);
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c[0]=(Lib3dsFloat)(sp*a[0] + sq*q[0]);
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c[1]=(Lib3dsFloat)(sp*a[1] + sq*q[1]);
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c[2]=(Lib3dsFloat)(sp*a[2] + sq*q[2]);
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c[3]=(Lib3dsFloat)(sp*a[3] + sq*q[3]);
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}
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_squad(Lib3dsQuat c, Lib3dsQuat a, Lib3dsQuat p, Lib3dsQuat q,
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Lib3dsQuat b, Lib3dsFloat t)
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{
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Lib3dsQuat ab;
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Lib3dsQuat pq;
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lib3ds_quat_slerp(ab,a,b,t);
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lib3ds_quat_slerp(pq,p,q,t);
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lib3ds_quat_slerp(c,ab,pq,2*t*(1-t));
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_tangent(Lib3dsQuat c, Lib3dsQuat p, Lib3dsQuat q, Lib3dsQuat n)
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{
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Lib3dsQuat dn,dp,x;
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int i;
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lib3ds_quat_ln_dif(dn, q, n);
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lib3ds_quat_ln_dif(dp, q, p);
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for (i=0; i<4; i++) {
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x[i]=-1.0f/4.0f*(dn[i]+dp[i]);
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}
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lib3ds_quat_exp(x);
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lib3ds_quat_mul(c,q,x);
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}
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/*!
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* \ingroup quat
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*/
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void
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lib3ds_quat_dump(Lib3dsQuat q)
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{
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printf("%f %f %f %f\n", q[0], q[1], q[2], q[3]);
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}
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