diff options
Diffstat (limited to 'extern/bullet2/src/LinearMath/btQuaternion.h')
-rw-r--r-- | extern/bullet2/src/LinearMath/btQuaternion.h | 31 |
1 files changed, 31 insertions, 0 deletions
diff --git a/extern/bullet2/src/LinearMath/btQuaternion.h b/extern/bullet2/src/LinearMath/btQuaternion.h index d5a7913b742..50334970ba6 100644 --- a/extern/bullet2/src/LinearMath/btQuaternion.h +++ b/extern/bullet2/src/LinearMath/btQuaternion.h @@ -212,6 +212,7 @@ public: SIMD_FORCE_INLINE const btScalar& getW() const { return m_unusedW; } + }; @@ -283,6 +284,36 @@ slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t) return q1.slerp(q2, t); } +SIMD_FORCE_INLINE btVector3 +quatRotate(btQuaternion& rotation, btVector3& v) +{ + btQuaternion q = rotation * v; + q *= rotation.inverse(); + return btVector3(q.getX(),q.getY(),q.getZ()); +} + +SIMD_FORCE_INLINE btQuaternion +shortestArcQuat(btVector3& v0,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) + return btQuaternion(0.0f,1.0f,0.0f,0.0f); // just pick any vector + + 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 +shortestArcQuatNormalize(btVector3& v0,btVector3& v1) +{ + v0.normalize(); + v1.normalize(); + return shortestArcQuat(v0,v1); +} #endif |