diff options
Diffstat (limited to 'extern/bullet2/BulletMultiThreaded/vectormath/scalar/cpp/quat_aos.h')
| -rw-r--r-- | extern/bullet2/BulletMultiThreaded/vectormath/scalar/cpp/quat_aos.h | 433 |
1 files changed, 433 insertions, 0 deletions
diff --git a/extern/bullet2/BulletMultiThreaded/vectormath/scalar/cpp/quat_aos.h b/extern/bullet2/BulletMultiThreaded/vectormath/scalar/cpp/quat_aos.h new file mode 100644 index 00000000000..764e01708f9 --- /dev/null +++ b/extern/bullet2/BulletMultiThreaded/vectormath/scalar/cpp/quat_aos.h @@ -0,0 +1,433 @@ +/* + Copyright (C) 2009 Sony Computer Entertainment Inc. + All rights reserved. + +This software is provided 'as-is', without any express or implied warranty. +In no event will the authors be held liable for any damages arising from the use of this software. +Permission is granted to anyone to use this software for any purpose, +including commercial applications, and to alter it and redistribute it freely, +subject to the following restrictions: + +1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required. +2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software. +3. This notice may not be removed or altered from any source distribution. + +*/ + +#ifndef _VECTORMATH_QUAT_AOS_CPP_H +#define _VECTORMATH_QUAT_AOS_CPP_H + +//----------------------------------------------------------------------------- +// Definitions + +#ifndef _VECTORMATH_INTERNAL_FUNCTIONS +#define _VECTORMATH_INTERNAL_FUNCTIONS + +#endif + +namespace Vectormath { +namespace Aos { + +inline Quat::Quat( const Quat & quat ) +{ + mX = quat.mX; + mY = quat.mY; + mZ = quat.mZ; + mW = quat.mW; +} + +inline Quat::Quat( float _x, float _y, float _z, float _w ) +{ + mX = _x; + mY = _y; + mZ = _z; + mW = _w; +} + +inline Quat::Quat( const Vector3 & xyz, float _w ) +{ + this->setXYZ( xyz ); + this->setW( _w ); +} + +inline Quat::Quat( const Vector4 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + mW = vec.getW(); +} + +inline Quat::Quat( float scalar ) +{ + mX = scalar; + mY = scalar; + mZ = scalar; + mW = scalar; +} + +inline const Quat Quat::identity( ) +{ + return Quat( 0.0f, 0.0f, 0.0f, 1.0f ); +} + +inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 ) +{ + return ( quat0 + ( ( quat1 - quat0 ) * t ) ); +} + +inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 ) +{ + Quat start; + float recipSinAngle, scale0, scale1, cosAngle, angle; + cosAngle = dot( unitQuat0, unitQuat1 ); + if ( cosAngle < 0.0f ) { + cosAngle = -cosAngle; + start = ( -unitQuat0 ); + } else { + start = unitQuat0; + } + if ( cosAngle < _VECTORMATH_SLERP_TOL ) { + angle = acosf( cosAngle ); + recipSinAngle = ( 1.0f / sinf( angle ) ); + scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle ); + scale1 = ( sinf( ( t * angle ) ) * recipSinAngle ); + } else { + scale0 = ( 1.0f - t ); + scale1 = t; + } + return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) ); +} + +inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 ) +{ + Quat tmp0, tmp1; + tmp0 = slerp( t, unitQuat0, unitQuat3 ); + tmp1 = slerp( t, unitQuat1, unitQuat2 ); + return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 ); +} + +inline void loadXYZW( Quat & quat, const float * fptr ) +{ + quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] ); +} + +inline void storeXYZW( const Quat & quat, float * fptr ) +{ + fptr[0] = quat.getX(); + fptr[1] = quat.getY(); + fptr[2] = quat.getZ(); + fptr[3] = quat.getW(); +} + +inline Quat & Quat::operator =( const Quat & quat ) +{ + mX = quat.mX; + mY = quat.mY; + mZ = quat.mZ; + mW = quat.mW; + return *this; +} + +inline Quat & Quat::setXYZ( const Vector3 & vec ) +{ + mX = vec.getX(); + mY = vec.getY(); + mZ = vec.getZ(); + return *this; +} + +inline const Vector3 Quat::getXYZ( ) const +{ + return Vector3( mX, mY, mZ ); +} + +inline Quat & Quat::setX( float _x ) +{ + mX = _x; + return *this; +} + +inline float Quat::getX( ) const +{ + return mX; +} + +inline Quat & Quat::setY( float _y ) +{ + mY = _y; + return *this; +} + +inline float Quat::getY( ) const +{ + return mY; +} + +inline Quat & Quat::setZ( float _z ) +{ + mZ = _z; + return *this; +} + +inline float Quat::getZ( ) const +{ + return mZ; +} + +inline Quat & Quat::setW( float _w ) +{ + mW = _w; + return *this; +} + +inline float Quat::getW( ) const +{ + return mW; +} + +inline Quat & Quat::setElem( int idx, float value ) +{ + *(&mX + idx) = value; + return *this; +} + +inline float Quat::getElem( int idx ) const +{ + return *(&mX + idx); +} + +inline float & Quat::operator []( int idx ) +{ + return *(&mX + idx); +} + +inline float Quat::operator []( int idx ) const +{ + return *(&mX + idx); +} + +inline const Quat Quat::operator +( const Quat & quat ) const +{ + return Quat( + ( mX + quat.mX ), + ( mY + quat.mY ), + ( mZ + quat.mZ ), + ( mW + quat.mW ) + ); +} + +inline const Quat Quat::operator -( const Quat & quat ) const +{ + return Quat( + ( mX - quat.mX ), + ( mY - quat.mY ), + ( mZ - quat.mZ ), + ( mW - quat.mW ) + ); +} + +inline const Quat Quat::operator *( float scalar ) const +{ + return Quat( + ( mX * scalar ), + ( mY * scalar ), + ( mZ * scalar ), + ( mW * scalar ) + ); +} + +inline Quat & Quat::operator +=( const Quat & quat ) +{ + *this = *this + quat; + return *this; +} + +inline Quat & Quat::operator -=( const Quat & quat ) +{ + *this = *this - quat; + return *this; +} + +inline Quat & Quat::operator *=( float scalar ) +{ + *this = *this * scalar; + return *this; +} + +inline const Quat Quat::operator /( float scalar ) const +{ + return Quat( + ( mX / scalar ), + ( mY / scalar ), + ( mZ / scalar ), + ( mW / scalar ) + ); +} + +inline Quat & Quat::operator /=( float scalar ) +{ + *this = *this / scalar; + return *this; +} + +inline const Quat Quat::operator -( ) const +{ + return Quat( + -mX, + -mY, + -mZ, + -mW + ); +} + +inline const Quat operator *( float scalar, const Quat & quat ) +{ + return quat * scalar; +} + +inline float dot( const Quat & quat0, const Quat & quat1 ) +{ + float result; + result = ( quat0.getX() * quat1.getX() ); + result = ( result + ( quat0.getY() * quat1.getY() ) ); + result = ( result + ( quat0.getZ() * quat1.getZ() ) ); + result = ( result + ( quat0.getW() * quat1.getW() ) ); + return result; +} + +inline float norm( const Quat & quat ) +{ + float result; + result = ( quat.getX() * quat.getX() ); + result = ( result + ( quat.getY() * quat.getY() ) ); + result = ( result + ( quat.getZ() * quat.getZ() ) ); + result = ( result + ( quat.getW() * quat.getW() ) ); + return result; +} + +inline float length( const Quat & quat ) +{ + return ::sqrtf( norm( quat ) ); +} + +inline const Quat normalize( const Quat & quat ) +{ + float lenSqr, lenInv; + lenSqr = norm( quat ); + lenInv = ( 1.0f / sqrtf( lenSqr ) ); + return Quat( + ( quat.getX() * lenInv ), + ( quat.getY() * lenInv ), + ( quat.getZ() * lenInv ), + ( quat.getW() * lenInv ) + ); +} + +inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 ) +{ + float cosHalfAngleX2, recipCosHalfAngleX2; + cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) ); + recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 ); + return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) ); +} + +inline const Quat Quat::rotation( float radians, const Vector3 & unitVec ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( ( unitVec * s ), c ); +} + +inline const Quat Quat::rotationX( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( s, 0.0f, 0.0f, c ); +} + +inline const Quat Quat::rotationY( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, s, 0.0f, c ); +} + +inline const Quat Quat::rotationZ( float radians ) +{ + float s, c, angle; + angle = ( radians * 0.5f ); + s = sinf( angle ); + c = cosf( angle ); + return Quat( 0.0f, 0.0f, s, c ); +} + +inline const Quat Quat::operator *( const Quat & quat ) const +{ + return Quat( + ( ( ( ( mW * quat.mX ) + ( mX * quat.mW ) ) + ( mY * quat.mZ ) ) - ( mZ * quat.mY ) ), + ( ( ( ( mW * quat.mY ) + ( mY * quat.mW ) ) + ( mZ * quat.mX ) ) - ( mX * quat.mZ ) ), + ( ( ( ( mW * quat.mZ ) + ( mZ * quat.mW ) ) + ( mX * quat.mY ) ) - ( mY * quat.mX ) ), + ( ( ( ( mW * quat.mW ) - ( mX * quat.mX ) ) - ( mY * quat.mY ) ) - ( mZ * quat.mZ ) ) + ); +} + +inline Quat & Quat::operator *=( const Quat & quat ) +{ + *this = *this * quat; + return *this; +} + +inline const Vector3 rotate( const Quat & quat, const Vector3 & vec ) +{ + float tmpX, tmpY, tmpZ, tmpW; + tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) ); + tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) ); + tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) ); + tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) ); + return Vector3( + ( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ), + ( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ), + ( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) ) + ); +} + +inline const Quat conj( const Quat & quat ) +{ + return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() ); +} + +inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 ) +{ + return Quat( + ( select1 )? quat1.getX() : quat0.getX(), + ( select1 )? quat1.getY() : quat0.getY(), + ( select1 )? quat1.getZ() : quat0.getZ(), + ( select1 )? quat1.getW() : quat0.getW() + ); +} + +#ifdef _VECTORMATH_DEBUG + +inline void print( const Quat & quat ) +{ + printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +inline void print( const Quat & quat, const char * name ) +{ + printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() ); +} + +#endif + +} // namespace Aos +} // namespace Vectormath + +#endif |