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Diffstat (limited to 'intern/moto/include/MT_Quaternion.inl')
-rw-r--r-- | intern/moto/include/MT_Quaternion.inl | 62 |
1 files changed, 62 insertions, 0 deletions
diff --git a/intern/moto/include/MT_Quaternion.inl b/intern/moto/include/MT_Quaternion.inl new file mode 100644 index 00000000000..225b95b78ce --- /dev/null +++ b/intern/moto/include/MT_Quaternion.inl @@ -0,0 +1,62 @@ +#include "MT_Optimize.h" + +GEN_INLINE MT_Quaternion& MT_Quaternion::operator*=(const MT_Quaternion& q) { + setValue(m_co[3] * q[0] + m_co[0] * q[3] + m_co[1] * q[2] - m_co[2] * q[1], + m_co[3] * q[1] + m_co[1] * q[3] + m_co[2] * q[0] - m_co[0] * q[2], + m_co[3] * q[2] + m_co[2] * q[3] + m_co[0] * q[1] - m_co[1] * q[0], + m_co[3] * q[3] - m_co[0] * q[0] - m_co[1] * q[1] - m_co[2] * q[2]); + return *this; +} + +GEN_INLINE void MT_Quaternion::conjugate() { + m_co[0] = -m_co[0]; m_co[1] = -m_co[1]; m_co[2] = -m_co[2]; +} + +GEN_INLINE MT_Quaternion MT_Quaternion::conjugate() const { + return MT_Quaternion(-m_co[0], -m_co[1], -m_co[2], m_co[3]); +} + +GEN_INLINE void MT_Quaternion::invert() { + conjugate(); + *this /= length2(); +} + +GEN_INLINE MT_Quaternion MT_Quaternion::inverse() const { + return conjugate() / length2(); +} + +// From: "Uniform Random Rotations", Ken Shoemake, Graphics Gems III, +// pg. 124-132 +GEN_INLINE MT_Quaternion MT_Quaternion::random() { + MT_Scalar x0 = MT_random(); + MT_Scalar r1 = sqrt(MT_Scalar(1.0) - x0), r2 = sqrt(x0); + MT_Scalar t1 = MT_2_PI * MT_random(), t2 = MT_2_PI * MT_random(); + MT_Scalar c1 = cos(t1), s1 = sin(t1); + MT_Scalar c2 = cos(t2), s2 = sin(t2); + return MT_Quaternion(s1 * r1, c1 * r1, s2 * r2, c2 * r2); +} + +GEN_INLINE MT_Quaternion operator*(const MT_Quaternion& q1, + const MT_Quaternion& q2) { + return MT_Quaternion(q1[3] * q2[0] + q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1], + q1[3] * q2[1] + q1[1] * q2[3] + q1[2] * q2[0] - q1[0] * q2[2], + q1[3] * q2[2] + q1[2] * q2[3] + q1[0] * q2[1] - q1[1] * q2[0], + q1[3] * q2[3] - q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2]); +} + +GEN_INLINE MT_Quaternion operator*(const MT_Quaternion& q, const MT_Vector3& w) +{ + return MT_Quaternion( q[3] * w[0] + q[1] * w[2] - q[2] * w[1], + q[3] * w[1] + q[2] * w[0] - q[0] * w[2], + q[3] * w[2] + q[0] * w[1] - q[1] * w[0], + -q[0] * w[0] - q[1] * w[1] - q[2] * w[2]); +} + +GEN_INLINE MT_Quaternion operator*(const MT_Vector3& w, const MT_Quaternion& q) +{ + return MT_Quaternion( w[0] * q[3] + w[1] * q[2] - w[2] * q[1], + w[1] * q[3] + w[2] * q[0] - w[0] * q[2], + w[2] * q[3] + w[0] * q[1] - w[1] * q[0], + -w[0] * q[0] - w[1] * q[1] - w[2] * q[2]); +} + |