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-/*
- 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
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