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Diffstat (limited to 'extern/bullet2/LinearMath/btQuaternion.h')
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diff --git a/extern/bullet2/LinearMath/btQuaternion.h b/extern/bullet2/LinearMath/btQuaternion.h deleted file mode 100644 index 15cf5f868d9..00000000000 --- a/extern/bullet2/LinearMath/btQuaternion.h +++ /dev/null @@ -1,433 +0,0 @@ -/* -Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/ - -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 SIMD__QUATERNION_H_ -#define SIMD__QUATERNION_H_ - - -#include "btVector3.h" -#include "btQuadWord.h" - -/**@brief The btQuaternion implements quaternion to perform linear algebra rotations in combination with btMatrix3x3, btVector3 and btTransform. */ -class btQuaternion : public btQuadWord { -public: - /**@brief No initialization constructor */ - btQuaternion() {} - - // template <typename btScalar> - // explicit Quaternion(const btScalar *v) : Tuple4<btScalar>(v) {} - /**@brief Constructor from scalars */ - btQuaternion(const btScalar& x, const btScalar& y, const btScalar& z, const btScalar& w) - : btQuadWord(x, y, z, w) - {} - /**@brief Axis angle Constructor - * @param axis The axis which the rotation is around - * @param angle The magnitude of the rotation around the angle (Radians) */ - btQuaternion(const btVector3& axis, const btScalar& angle) - { - setRotation(axis, angle); - } - /**@brief Constructor from Euler angles - * @param yaw Angle around Y unless BT_EULER_DEFAULT_ZYX defined then Z - * @param pitch Angle around X unless BT_EULER_DEFAULT_ZYX defined then Y - * @param roll Angle around Z unless BT_EULER_DEFAULT_ZYX defined then X */ - btQuaternion(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) - { -#ifndef BT_EULER_DEFAULT_ZYX - setEuler(yaw, pitch, roll); -#else - setEulerZYX(yaw, pitch, roll); -#endif - } - /**@brief Set the rotation using axis angle notation - * @param axis The axis around which to rotate - * @param angle The magnitude of the rotation in Radians */ - void setRotation(const btVector3& axis, const btScalar& angle) - { - btScalar d = axis.length(); - btAssert(d != btScalar(0.0)); - btScalar s = btSin(angle * btScalar(0.5)) / d; - setValue(axis.x() * s, axis.y() * s, axis.z() * s, - btCos(angle * btScalar(0.5))); - } - /**@brief Set the quaternion using Euler angles - * @param yaw Angle around Y - * @param pitch Angle around X - * @param roll Angle around Z */ - void setEuler(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) - { - btScalar halfYaw = btScalar(yaw) * btScalar(0.5); - btScalar halfPitch = btScalar(pitch) * btScalar(0.5); - btScalar halfRoll = btScalar(roll) * btScalar(0.5); - btScalar cosYaw = btCos(halfYaw); - btScalar sinYaw = btSin(halfYaw); - btScalar cosPitch = btCos(halfPitch); - btScalar sinPitch = btSin(halfPitch); - btScalar cosRoll = btCos(halfRoll); - btScalar sinRoll = btSin(halfRoll); - setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, - cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, - sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, - cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); - } - /**@brief Set the quaternion using euler angles - * @param yaw Angle around Z - * @param pitch Angle around Y - * @param roll Angle around X */ - void setEulerZYX(const btScalar& yaw, const btScalar& pitch, const btScalar& roll) - { - btScalar halfYaw = btScalar(yaw) * btScalar(0.5); - btScalar halfPitch = btScalar(pitch) * btScalar(0.5); - btScalar halfRoll = btScalar(roll) * btScalar(0.5); - btScalar cosYaw = btCos(halfYaw); - btScalar sinYaw = btSin(halfYaw); - btScalar cosPitch = btCos(halfPitch); - btScalar sinPitch = btSin(halfPitch); - btScalar cosRoll = btCos(halfRoll); - btScalar sinRoll = btSin(halfRoll); - setValue(sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw, //x - cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw, //y - cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw, //z - cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw); //formerly yzx - } - /**@brief Add two quaternions - * @param q The quaternion to add to this one */ - SIMD_FORCE_INLINE btQuaternion& operator+=(const btQuaternion& q) - { - m_floats[0] += q.x(); m_floats[1] += q.y(); m_floats[2] += q.z(); m_floats[3] += q.m_floats[3]; - return *this; - } - - /**@brief Subtract out a quaternion - * @param q The quaternion to subtract from this one */ - btQuaternion& operator-=(const btQuaternion& q) - { - m_floats[0] -= q.x(); m_floats[1] -= q.y(); m_floats[2] -= q.z(); m_floats[3] -= q.m_floats[3]; - return *this; - } - - /**@brief Scale this quaternion - * @param s The scalar to scale by */ - btQuaternion& operator*=(const btScalar& s) - { - m_floats[0] *= s; m_floats[1] *= s; m_floats[2] *= s; m_floats[3] *= s; - return *this; - } - - /**@brief Multiply this quaternion by q on the right - * @param q The other quaternion - * Equivilant to this = this * q */ - btQuaternion& operator*=(const btQuaternion& q) - { - setValue(m_floats[3] * q.x() + m_floats[0] * q.m_floats[3] + m_floats[1] * q.z() - m_floats[2] * q.y(), - m_floats[3] * q.y() + m_floats[1] * q.m_floats[3] + m_floats[2] * q.x() - m_floats[0] * q.z(), - m_floats[3] * q.z() + m_floats[2] * q.m_floats[3] + m_floats[0] * q.y() - m_floats[1] * q.x(), - m_floats[3] * q.m_floats[3] - m_floats[0] * q.x() - m_floats[1] * q.y() - m_floats[2] * q.z()); - return *this; - } - /**@brief Return the dot product between this quaternion and another - * @param q The other quaternion */ - btScalar dot(const btQuaternion& q) const - { - return m_floats[0] * q.x() + m_floats[1] * q.y() + m_floats[2] * q.z() + m_floats[3] * q.m_floats[3]; - } - - /**@brief Return the length squared of the quaternion */ - btScalar length2() const - { - return dot(*this); - } - - /**@brief Return the length of the quaternion */ - btScalar length() const - { - return btSqrt(length2()); - } - - /**@brief Normalize the quaternion - * Such that x^2 + y^2 + z^2 +w^2 = 1 */ - btQuaternion& normalize() - { - return *this /= length(); - } - - /**@brief Return a scaled version of this quaternion - * @param s The scale factor */ - SIMD_FORCE_INLINE btQuaternion - operator*(const btScalar& s) const - { - return btQuaternion(x() * s, y() * s, z() * s, m_floats[3] * s); - } - - - /**@brief Return an inversely scaled versionof this quaternion - * @param s The inverse scale factor */ - btQuaternion operator/(const btScalar& s) const - { - btAssert(s != btScalar(0.0)); - return *this * (btScalar(1.0) / s); - } - - /**@brief Inversely scale this quaternion - * @param s The scale factor */ - btQuaternion& operator/=(const btScalar& s) - { - btAssert(s != btScalar(0.0)); - return *this *= btScalar(1.0) / s; - } - - /**@brief Return a normalized version of this quaternion */ - btQuaternion normalized() const - { - return *this / length(); - } - /**@brief Return the angle between this quaternion and the other - * @param q The other quaternion */ - btScalar angle(const btQuaternion& q) const - { - btScalar s = btSqrt(length2() * q.length2()); - btAssert(s != btScalar(0.0)); - return btAcos(dot(q) / s); - } - /**@brief Return the angle of rotation represented by this quaternion */ - btScalar getAngle() const - { - btScalar s = btScalar(2.) * btAcos(m_floats[3]); - return s; - } - - /**@brief Return the axis of the rotation represented by this quaternion */ - btVector3 getAxis() const - { - btScalar s_squared = btScalar(1.) - btPow(m_floats[3], btScalar(2.)); - if (s_squared < btScalar(10.) * SIMD_EPSILON) //Check for divide by zero - return btVector3(1.0, 0.0, 0.0); // Arbitrary - btScalar s = btSqrt(s_squared); - return btVector3(m_floats[0] / s, m_floats[1] / s, m_floats[2] / s); - } - - /**@brief Return the inverse of this quaternion */ - btQuaternion inverse() const - { - return btQuaternion(-m_floats[0], -m_floats[1], -m_floats[2], m_floats[3]); - } - - /**@brief Return the sum of this quaternion and the other - * @param q2 The other quaternion */ - SIMD_FORCE_INLINE btQuaternion - operator+(const btQuaternion& q2) const - { - const btQuaternion& q1 = *this; - return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_floats[3] + q2.m_floats[3]); - } - - /**@brief Return the difference between this quaternion and the other - * @param q2 The other quaternion */ - SIMD_FORCE_INLINE btQuaternion - operator-(const btQuaternion& q2) const - { - const btQuaternion& q1 = *this; - return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_floats[3] - q2.m_floats[3]); - } - - /**@brief Return the negative of this quaternion - * This simply negates each element */ - SIMD_FORCE_INLINE btQuaternion operator-() const - { - const btQuaternion& q2 = *this; - return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2.m_floats[3]); - } - /**@todo document this and it's use */ - SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const - { - btQuaternion diff,sum; - diff = *this - qd; - sum = *this + qd; - if( diff.dot(diff) > sum.dot(sum) ) - return qd; - return (-qd); - } - - /**@todo document this and it's use */ - SIMD_FORCE_INLINE btQuaternion nearest( const btQuaternion& qd) const - { - btQuaternion diff,sum; - diff = *this - qd; - sum = *this + qd; - if( diff.dot(diff) < sum.dot(sum) ) - return qd; - return (-qd); - } - - - /**@brief Return the quaternion which is the result of Spherical Linear Interpolation between this and the other quaternion - * @param q The other quaternion to interpolate with - * @param t The ratio between this and q to interpolate. If t = 0 the result is this, if t=1 the result is q. - * Slerp interpolates assuming constant velocity. */ - btQuaternion slerp(const btQuaternion& q, const btScalar& t) const - { - btScalar theta = angle(q); - if (theta != btScalar(0.0)) - { - btScalar d = btScalar(1.0) / btSin(theta); - btScalar s0 = btSin((btScalar(1.0) - t) * theta); - btScalar s1 = btSin(t * theta); - if (dot(q) < 0) // Take care of long angle case see http://en.wikipedia.org/wiki/Slerp - return btQuaternion((m_floats[0] * s0 + -q.x() * s1) * d, - (m_floats[1] * s0 + -q.y() * s1) * d, - (m_floats[2] * s0 + -q.z() * s1) * d, - (m_floats[3] * s0 + -q.m_floats[3] * s1) * d); - else - return btQuaternion((m_floats[0] * s0 + q.x() * s1) * d, - (m_floats[1] * s0 + q.y() * s1) * d, - (m_floats[2] * s0 + q.z() * s1) * d, - (m_floats[3] * s0 + q.m_floats[3] * s1) * d); - - } - else - { - return *this; - } - } - - static const btQuaternion& getIdentity() - { - static const btQuaternion identityQuat(btScalar(0.),btScalar(0.),btScalar(0.),btScalar(1.)); - return identityQuat; - } - - SIMD_FORCE_INLINE const btScalar& getW() const { return m_floats[3]; } - - -}; - - -/**@brief Return the negative of a quaternion */ -SIMD_FORCE_INLINE btQuaternion -operator-(const btQuaternion& q) -{ - return btQuaternion(-q.x(), -q.y(), -q.z(), -q.w()); -} - - - -/**@brief Return the product of two quaternions */ -SIMD_FORCE_INLINE btQuaternion -operator*(const btQuaternion& q1, const btQuaternion& q2) { - return btQuaternion(q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(), - q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(), - q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(), - q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z()); -} - -SIMD_FORCE_INLINE btQuaternion -operator*(const btQuaternion& q, const btVector3& w) -{ - return btQuaternion( q.w() * w.x() + q.y() * w.z() - q.z() * w.y(), - q.w() * w.y() + q.z() * w.x() - q.x() * w.z(), - q.w() * w.z() + q.x() * w.y() - q.y() * w.x(), - -q.x() * w.x() - q.y() * w.y() - q.z() * w.z()); -} - -SIMD_FORCE_INLINE btQuaternion -operator*(const btVector3& w, const btQuaternion& q) -{ - return btQuaternion( w.x() * q.w() + w.y() * q.z() - w.z() * q.y(), - w.y() * q.w() + w.z() * q.x() - w.x() * q.z(), - w.z() * q.w() + w.x() * q.y() - w.y() * q.x(), - -w.x() * q.x() - w.y() * q.y() - w.z() * q.z()); -} - -/**@brief Calculate the dot product between two quaternions */ -SIMD_FORCE_INLINE btScalar -dot(const btQuaternion& q1, const btQuaternion& q2) -{ - return q1.dot(q2); -} - - -/**@brief Return the length of a quaternion */ -SIMD_FORCE_INLINE btScalar -length(const btQuaternion& q) -{ - return q.length(); -} - -/**@brief Return the angle between two quaternions*/ -SIMD_FORCE_INLINE btScalar -angle(const btQuaternion& q1, const btQuaternion& q2) -{ - return q1.angle(q2); -} - -/**@brief Return the inverse of a quaternion*/ -SIMD_FORCE_INLINE btQuaternion -inverse(const btQuaternion& q) -{ - return q.inverse(); -} - -/**@brief Return the result of spherical linear interpolation betwen two quaternions - * @param q1 The first quaternion - * @param q2 The second quaternion - * @param t The ration between q1 and q2. t = 0 return q1, t=1 returns q2 - * Slerp assumes constant velocity between positions. */ -SIMD_FORCE_INLINE btQuaternion -slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t) -{ - return q1.slerp(q2, t); -} - -SIMD_FORCE_INLINE btVector3 -quatRotate(const btQuaternion& rotation, const btVector3& v) -{ - btQuaternion q = rotation * v; - q *= rotation.inverse(); - return btVector3(q.getX(),q.getY(),q.getZ()); -} - -SIMD_FORCE_INLINE btQuaternion -shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized -{ - btVector3 c = v0.cross(v1); - btScalar d = v0.dot(v1); - - if (d < -1.0 + SIMD_EPSILON) - { - btVector3 n,unused; - btPlaneSpace1(v0,n,unused); - return btQuaternion(n.x(),n.y(),n.z(),0.0f); // just pick any vector that is orthogonal to v0 - } - - btScalar s = btSqrt((1.0f + d) * 2.0f); - btScalar rs = 1.0f / s; - - return btQuaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f); -} - -SIMD_FORCE_INLINE btQuaternion -shortestArcQuatNormalize2(btVector3& v0,btVector3& v1) -{ - v0.normalize(); - v1.normalize(); - return shortestArcQuat(v0,v1); -} - -#endif - - - - |