[2043] | 1 | /* |
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| 2 | orxonox - the future of 3D-vertical-scrollers |
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| 3 | |
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| 4 | Copyright (C) 2004 orx |
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| 5 | |
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| 6 | This program is free software; you can redistribute it and/or modify |
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| 7 | it under the terms of the GNU General Public License as published by |
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| 8 | the Free Software Foundation; either version 2, or (at your option) |
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| 9 | any later version. |
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| 10 | |
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| 11 | ### File Specific: |
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[2551] | 12 | main-programmer: Christian Meyer |
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| 13 | co-programmer: Patrick Boenzli : Vector::scale() |
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| 14 | Vector::abs() |
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[2190] | 15 | |
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| 16 | Quaternion code borrowed from an Gamasutra article by Nick Bobick and Ken Shoemake |
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[2043] | 17 | */ |
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| 18 | |
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[3590] | 19 | #define DEBUG_SPECIAL_MODULE DEBUG_MODULE_MATH |
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[2043] | 20 | |
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| 21 | #include "vector.h" |
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[3541] | 22 | #include "debug.h" |
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[2043] | 23 | |
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| 24 | using namespace std; |
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| 25 | |
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| 26 | /** |
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| 27 | \brief add two vectors |
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| 28 | \param v: the other vector |
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| 29 | \return the sum of both vectors |
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| 30 | */ |
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| 31 | |
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[3818] | 32 | //Vector Vector::operator+ (const Vector& v) const |
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| 33 | |
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| 34 | |
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[2043] | 35 | /** |
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| 36 | \brief subtract a vector from another |
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| 37 | \param v: the other vector |
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| 38 | \return the difference between the vectors |
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| 39 | */ |
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[3818] | 40 | //Vector Vector::operator- (const Vector& v) const |
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[2043] | 41 | |
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[3818] | 42 | |
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[2043] | 43 | /** |
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| 44 | \brief calculate the dot product of two vectors |
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| 45 | \param v: the other vector |
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| 46 | \return the dot product of the vectors |
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| 47 | */ |
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[3818] | 48 | //float Vector::operator* (const Vector& v) const |
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[2043] | 49 | |
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[3818] | 50 | |
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[2043] | 51 | /** |
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| 52 | \brief multiply a vector with a float |
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| 53 | \param f: the factor |
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| 54 | \return the vector multipied by f |
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| 55 | */ |
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[3818] | 56 | //Vector Vector::operator* (float f) const |
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[2043] | 57 | |
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[3818] | 58 | |
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[2043] | 59 | /** |
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| 60 | \brief divide a vector with a float |
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| 61 | \param f: the divisor |
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| 62 | \return the vector divided by f |
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| 63 | */ |
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| 64 | Vector Vector::operator/ (float f) const |
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| 65 | { |
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[3860] | 66 | if( unlikely(f == 0.0)) |
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[2043] | 67 | { |
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| 68 | // Prevent divide by zero |
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| 69 | return Vector (0,0,0); |
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| 70 | } |
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[3814] | 71 | return Vector(x / f, y / f, z / f); |
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[2043] | 72 | } |
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| 73 | |
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| 74 | /** |
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| 75 | \brief calculate the dot product of two vectors |
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| 76 | \param v: the other vector |
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| 77 | \return the dot product of the vectors |
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| 78 | */ |
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| 79 | float Vector::dot (const Vector& v) const |
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| 80 | { |
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| 81 | return x*v.x+y*v.y+z*v.z; |
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| 82 | } |
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| 83 | |
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| 84 | /** |
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| 85 | \brief calculate the cross product of two vectors |
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| 86 | \param v: the other vector |
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| 87 | \return the cross product of the vectors |
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| 88 | */ |
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[3819] | 89 | //Vector Vector::cross (const Vector& v) const |
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| 90 | |
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[2043] | 91 | |
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| 92 | /** |
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| 93 | \brief normalizes the vector to lenght 1.0 |
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| 94 | */ |
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[3819] | 95 | //void Vector::normalize () |
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[2551] | 96 | |
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| 97 | |
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| 98 | /** |
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[3449] | 99 | \brief returns the voctor normalized to length 1.0 |
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[2551] | 100 | */ |
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| 101 | |
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[3958] | 102 | const Vector Vector::getNormalized() |
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[2551] | 103 | { |
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| 104 | float l = len(); |
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[3860] | 105 | if(unlikely(l != 1.0)) |
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[2551] | 106 | { |
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[3958] | 107 | return *this; |
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[2551] | 108 | } |
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[3860] | 109 | else if(unlikely(l == 0.0)) |
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[2551] | 110 | { |
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[3958] | 111 | return Vector(); |
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[2551] | 112 | } |
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[3814] | 113 | |
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[3958] | 114 | return Vector(x / l, y /l, z / l); |
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[2551] | 115 | } |
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| 116 | |
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[3449] | 117 | /** |
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| 118 | \brief scales this Vector with Vector v. |
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| 119 | \param v the vector to scale this vector with |
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| 120 | */ |
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[2551] | 121 | void Vector::scale(const Vector& v) |
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| 122 | { |
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| 123 | x *= v.x; |
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| 124 | y *= v.y; |
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| 125 | z *= v.z; |
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| 126 | } |
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| 127 | |
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[2043] | 128 | |
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| 129 | /** |
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| 130 | \brief calculates the lenght of the vector |
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| 131 | \return the lenght of the vector |
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| 132 | */ |
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[3819] | 133 | //float Vector::len () const |
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[2043] | 134 | |
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[2551] | 135 | |
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[3449] | 136 | /** |
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| 137 | \brief Vector is looking in the positive direction on all axes after this |
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| 138 | */ |
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[2551] | 139 | Vector Vector::abs() |
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| 140 | { |
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| 141 | Vector v(fabs(x), fabs(y), fabs(z)); |
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| 142 | return v; |
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| 143 | } |
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| 144 | |
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[2043] | 145 | /** |
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| 146 | \brief calculate the angle between two vectors in radiances |
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| 147 | \param v1: a vector |
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| 148 | \param v2: another vector |
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| 149 | \return the angle between the vectors in radians |
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| 150 | */ |
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[3228] | 151 | float angleRad (const Vector& v1, const Vector& v2) |
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[2043] | 152 | { |
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| 153 | return acos( v1 * v2 / (v1.len() * v2.len())); |
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| 154 | } |
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| 155 | |
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[2551] | 156 | |
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[2043] | 157 | /** |
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| 158 | \brief calculate the angle between two vectors in degrees |
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| 159 | \param v1: a vector |
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| 160 | \param v2: another vector |
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| 161 | \return the angle between the vectors in degrees |
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| 162 | */ |
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[3228] | 163 | float angleDeg (const Vector& v1, const Vector& v2) |
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[2043] | 164 | { |
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| 165 | float f; |
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| 166 | f = acos( v1 * v2 / (v1.len() * v2.len())); |
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| 167 | return f * 180 / PI; |
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| 168 | } |
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| 169 | |
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[3541] | 170 | |
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[2043] | 171 | /** |
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[3541] | 172 | \brief Outputs the values of the Vector |
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| 173 | */ |
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[3951] | 174 | void Vector::debug(void) const |
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[3541] | 175 | { |
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| 176 | PRINT(0)("Vector Debug information\n"); |
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| 177 | PRINT(0)("x: %f; y: %f; z: %f", x, y, z); |
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| 178 | PRINT(3)(" lenght: %f", len()); |
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| 179 | PRINT(0)("\n"); |
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| 180 | } |
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| 181 | |
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| 182 | /** |
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[2190] | 183 | \brief creates a multiplicational identity Quaternion |
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| 184 | */ |
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[3822] | 185 | //Quaternion::Quaternion () |
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[2190] | 186 | |
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[3822] | 187 | |
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[2190] | 188 | /** |
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| 189 | \brief turns a rotation along an axis into a Quaternion |
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| 190 | \param angle: the amount of radians to rotate |
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| 191 | \param axis: the axis to rotate around |
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| 192 | */ |
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[3822] | 193 | //Quaternion::Quaternion (float angle, const Vector& axis) |
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[2190] | 194 | |
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[3822] | 195 | |
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[2190] | 196 | /** |
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[3234] | 197 | \brief calculates a lookAt rotation |
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[2551] | 198 | \param dir: the direction you want to look |
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| 199 | \param up: specify what direction up should be |
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| 200 | |
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| 201 | Mathematically this determines the rotation a (0,0,1)-Vector has to undergo to point |
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| 202 | the same way as dir. If you want to use this with cameras, you'll have to reverse the |
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| 203 | dir Vector (Vector(0,0,0) - your viewing direction) or you'll point the wrong way. You |
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| 204 | can use this for meshes as well (then you do not have to reverse the vector), but keep |
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| 205 | in mind that if you do that, the model's front has to point in +z direction, and left |
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| 206 | and right should be -x or +x respectively or the mesh wont rotate correctly. |
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[2190] | 207 | */ |
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| 208 | Quaternion::Quaternion (const Vector& dir, const Vector& up) |
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[2551] | 209 | { |
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| 210 | Vector z = dir; |
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| 211 | z.normalize(); |
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| 212 | Vector x = up.cross(z); |
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| 213 | x.normalize(); |
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[2190] | 214 | Vector y = z.cross(x); |
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| 215 | |
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| 216 | float m[4][4]; |
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| 217 | m[0][0] = x.x; |
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| 218 | m[0][1] = x.y; |
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| 219 | m[0][2] = x.z; |
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| 220 | m[0][3] = 0; |
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| 221 | m[1][0] = y.x; |
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| 222 | m[1][1] = y.y; |
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| 223 | m[1][2] = y.z; |
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| 224 | m[1][3] = 0; |
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| 225 | m[2][0] = z.x; |
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| 226 | m[2][1] = z.y; |
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| 227 | m[2][2] = z.z; |
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| 228 | m[2][3] = 0; |
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| 229 | m[3][0] = 0; |
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| 230 | m[3][1] = 0; |
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| 231 | m[3][2] = 0; |
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| 232 | m[3][3] = 1; |
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| 233 | |
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| 234 | *this = Quaternion (m); |
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| 235 | } |
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| 236 | |
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| 237 | /** |
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| 238 | \brief calculates a rotation from euler angles |
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| 239 | \param roll: the roll in radians |
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| 240 | \param pitch: the pitch in radians |
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| 241 | \param yaw: the yaw in radians |
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| 242 | |
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[2551] | 243 | I DO HONESTLY NOT EXACTLY KNOW WHICH ANGLE REPRESENTS WHICH ROTATION. And I do not know |
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| 244 | in what order they are applied, I just copy-pasted the code. |
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[2190] | 245 | */ |
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| 246 | Quaternion::Quaternion (float roll, float pitch, float yaw) |
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| 247 | { |
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[2551] | 248 | float cr, cp, cy, sr, sp, sy, cpcy, spsy; |
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| 249 | |
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| 250 | // calculate trig identities |
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| 251 | cr = cos(roll/2); |
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| 252 | cp = cos(pitch/2); |
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| 253 | cy = cos(yaw/2); |
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| 254 | |
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| 255 | sr = sin(roll/2); |
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| 256 | sp = sin(pitch/2); |
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| 257 | sy = sin(yaw/2); |
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| 258 | |
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| 259 | cpcy = cp * cy; |
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| 260 | spsy = sp * sy; |
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| 261 | |
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| 262 | w = cr * cpcy + sr * spsy; |
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| 263 | v.x = sr * cpcy - cr * spsy; |
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| 264 | v.y = cr * sp * cy + sr * cp * sy; |
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[2190] | 265 | v.z = cr * cp * sy - sr * sp * cy; |
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| 266 | } |
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| 267 | |
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| 268 | /** |
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| 269 | \brief rotates one Quaternion by another |
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| 270 | \param q: another Quaternion to rotate this by |
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| 271 | \return a quaternion that represents the first one rotated by the second one (WARUNING: this operation is not commutative! e.g. (A*B) != (B*A)) |
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| 272 | */ |
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| 273 | Quaternion Quaternion::operator*(const Quaternion& q) const |
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[2551] | 274 | { |
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[3822] | 275 | float A, B, C, D, E, F, G, H; |
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| 276 | |
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| 277 | A = (w + v.x)*(q.w + q.v.x); |
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| 278 | B = (v.z - v.y)*(q.v.y - q.v.z); |
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| 279 | C = (w - v.x)*(q.v.y + q.v.z); |
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| 280 | D = (v.y + v.z)*(q.w - q.v.x); |
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| 281 | E = (v.x + v.z)*(q.v.x + q.v.y); |
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| 282 | F = (v.x - v.z)*(q.v.x - q.v.y); |
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| 283 | G = (w + v.y)*(q.w - q.v.z); |
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| 284 | H = (w - v.y)*(q.w + q.v.z); |
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| 285 | |
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[3824] | 286 | Quaternion r; |
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| 287 | r.v.x = A - (E + F + G + H)/2; |
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| 288 | r.v.y = C + (E - F + G - H)/2; |
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| 289 | r.v.z = D + (E - F - G + H)/2; |
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| 290 | r.w = B + (-E - F + G + H)/2; |
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| 291 | |
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| 292 | return r; |
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[2190] | 293 | } |
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| 294 | |
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| 295 | /** |
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[3822] | 296 | \brief add two Quaternions |
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| 297 | \param q: another Quaternion |
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| 298 | \return the sum of both Quaternions |
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[2190] | 299 | */ |
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[3822] | 300 | /* |
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[2190] | 301 | Quaternion Quaternion::operator+(const Quaternion& q) const |
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| 302 | { |
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[3814] | 303 | Quaternion r(*this); |
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| 304 | r.w = r.w + q.w; |
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| 305 | r.v = r.v + q.v; |
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| 306 | return r; |
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[2190] | 307 | } |
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[3822] | 308 | */ |
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[2190] | 309 | |
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| 310 | /** |
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[3814] | 311 | \brief subtract two Quaternions |
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| 312 | \param q: another Quaternion |
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| 313 | \return the difference of both Quaternions |
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[2190] | 314 | */ |
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[3822] | 315 | /* |
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[2190] | 316 | Quaternion Quaternion::operator- (const Quaternion& q) const |
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| 317 | { |
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[3814] | 318 | Quaternion r(*this); |
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| 319 | r.w = r.w - q.w; |
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| 320 | r.v = r.v - q.v; |
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| 321 | return r; |
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[2190] | 322 | } |
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[3822] | 323 | */ |
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[2190] | 324 | |
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| 325 | /** |
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[3814] | 326 | \brief rotate a Vector by a Quaternion |
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| 327 | \param v: the Vector |
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| 328 | \return a new Vector representing v rotated by the Quaternion |
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[2190] | 329 | */ |
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[3822] | 330 | |
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[2190] | 331 | Vector Quaternion::apply (Vector& v) const |
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| 332 | { |
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[3814] | 333 | Quaternion q; |
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| 334 | q.v = v; |
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| 335 | q.w = 0; |
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| 336 | q = *this * q * conjugate(); |
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| 337 | return q.v; |
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[3823] | 338 | } |
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[2190] | 339 | |
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[3823] | 340 | |
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[2190] | 341 | /** |
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[3814] | 342 | \brief multiply a Quaternion with a real value |
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| 343 | \param f: a real value |
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| 344 | \return a new Quaternion containing the product |
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[2190] | 345 | */ |
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| 346 | Quaternion Quaternion::operator*(const float& f) const |
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| 347 | { |
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[3814] | 348 | Quaternion r(*this); |
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| 349 | r.w = r.w*f; |
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| 350 | r.v = r.v*f; |
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| 351 | return r; |
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[2190] | 352 | } |
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| 353 | |
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| 354 | /** |
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[3814] | 355 | \brief divide a Quaternion by a real value |
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| 356 | \param f: a real value |
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| 357 | \return a new Quaternion containing the quotient |
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[2190] | 358 | */ |
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| 359 | Quaternion Quaternion::operator/(const float& f) const |
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| 360 | { |
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[3814] | 361 | if( f == 0) return Quaternion(); |
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| 362 | Quaternion r(*this); |
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| 363 | r.w = r.w/f; |
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| 364 | r.v = r.v/f; |
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| 365 | return r; |
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[2190] | 366 | } |
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| 367 | |
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| 368 | /** |
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[3814] | 369 | \brief calculate the conjugate value of the Quaternion |
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| 370 | \return the conjugate Quaternion |
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[2190] | 371 | */ |
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[3823] | 372 | /* |
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[2190] | 373 | Quaternion Quaternion::conjugate() const |
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| 374 | { |
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[3814] | 375 | Quaternion r(*this); |
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| 376 | r.v = Vector() - r.v; |
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| 377 | return r; |
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[2190] | 378 | } |
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[3823] | 379 | */ |
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[2190] | 380 | |
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| 381 | /** |
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[3814] | 382 | \brief calculate the norm of the Quaternion |
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| 383 | \return the norm of The Quaternion |
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[2190] | 384 | */ |
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| 385 | float Quaternion::norm() const |
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| 386 | { |
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[3814] | 387 | return w*w + v.x*v.x + v.y*v.y + v.z*v.z; |
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[2190] | 388 | } |
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| 389 | |
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| 390 | /** |
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[3814] | 391 | \brief calculate the inverse value of the Quaternion |
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| 392 | \return the inverse Quaternion |
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| 393 | |
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[2190] | 394 | Note that this is equal to conjugate() if the Quaternion's norm is 1 |
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| 395 | */ |
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| 396 | Quaternion Quaternion::inverse() const |
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| 397 | { |
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[3814] | 398 | float n = norm(); |
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| 399 | if (n != 0) |
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| 400 | { |
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| 401 | return conjugate() / norm(); |
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| 402 | } |
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| 403 | else return Quaternion(); |
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[2190] | 404 | } |
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| 405 | |
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| 406 | /** |
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[3814] | 407 | \brief convert the Quaternion to a 4x4 rotational glMatrix |
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| 408 | \param m: a buffer to store the Matrix in |
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[2190] | 409 | */ |
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| 410 | void Quaternion::matrix (float m[4][4]) const |
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| 411 | { |
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[2551] | 412 | float wx, wy, wz, xx, yy, yz, xy, xz, zz, x2, y2, z2; |
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| 413 | |
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| 414 | // calculate coefficients |
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| 415 | x2 = v.x + v.x; |
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| 416 | y2 = v.y + v.y; |
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| 417 | z2 = v.z + v.z; |
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| 418 | xx = v.x * x2; xy = v.x * y2; xz = v.x * z2; |
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| 419 | yy = v.y * y2; yz = v.y * z2; zz = v.z * z2; |
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| 420 | wx = w * x2; wy = w * y2; wz = w * z2; |
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| 421 | |
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| 422 | m[0][0] = 1.0 - (yy + zz); m[1][0] = xy - wz; |
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| 423 | m[2][0] = xz + wy; m[3][0] = 0.0; |
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| 424 | |
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| 425 | m[0][1] = xy + wz; m[1][1] = 1.0 - (xx + zz); |
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| 426 | m[2][1] = yz - wx; m[3][1] = 0.0; |
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| 427 | |
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| 428 | m[0][2] = xz - wy; m[1][2] = yz + wx; |
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| 429 | m[2][2] = 1.0 - (xx + yy); m[3][2] = 0.0; |
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| 430 | |
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| 431 | m[0][3] = 0; m[1][3] = 0; |
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| 432 | m[2][3] = 0; m[3][3] = 1; |
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[2190] | 433 | } |
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| 434 | |
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[3449] | 435 | /** |
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| 436 | \brief performs a smooth move. |
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| 437 | \param from from where |
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| 438 | \param to to where |
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| 439 | \param t the time this transformation should take |
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| 440 | \param res The approximation-density |
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| 441 | */ |
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[2551] | 442 | void Quaternion::quatSlerp(const Quaternion* from, const Quaternion* to, float t, Quaternion* res) |
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| 443 | { |
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| 444 | float tol[4]; |
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| 445 | double omega, cosom, sinom, scale0, scale1; |
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| 446 | DELTA = 0.2; |
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| 447 | |
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| 448 | cosom = from->v.x * to->v.x + from->v.y * to->v.y + from->v.z * to->v.z + from->w * to->w; |
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| 449 | |
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| 450 | if( cosom < 0.0 ) |
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| 451 | { |
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| 452 | cosom = -cosom; |
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| 453 | tol[0] = -to->v.x; |
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| 454 | tol[1] = -to->v.y; |
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| 455 | tol[2] = -to->v.z; |
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| 456 | tol[3] = -to->w; |
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| 457 | } |
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| 458 | else |
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| 459 | { |
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| 460 | tol[0] = to->v.x; |
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| 461 | tol[1] = to->v.y; |
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| 462 | tol[2] = to->v.z; |
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| 463 | tol[3] = to->w; |
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| 464 | } |
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| 465 | |
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| 466 | //if( (1.0 - cosom) > DELTA ) |
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| 467 | //{ |
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| 468 | omega = acos(cosom); |
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| 469 | sinom = sin(omega); |
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| 470 | scale0 = sin((1.0 - t) * omega) / sinom; |
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| 471 | scale1 = sin(t * omega) / sinom; |
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| 472 | //} |
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| 473 | /* |
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| 474 | else |
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| 475 | { |
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| 476 | scale0 = 1.0 - t; |
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| 477 | scale1 = t; |
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| 478 | } |
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| 479 | */ |
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| 480 | res->v.x = scale0 * from->v.x + scale1 * tol[0]; |
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| 481 | res->v.y = scale0 * from->v.y + scale1 * tol[1]; |
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| 482 | res->v.z = scale0 * from->v.z + scale1 * tol[2]; |
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| 483 | res->w = scale0 * from->w + scale1 * tol[3]; |
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| 484 | } |
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| 485 | |
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| 486 | |
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[2190] | 487 | /** |
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[2551] | 488 | \brief convert a rotational 4x4 glMatrix into a Quaternion |
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| 489 | \param m: a 4x4 matrix in glMatrix order |
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[2190] | 490 | */ |
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| 491 | Quaternion::Quaternion (float m[4][4]) |
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| 492 | { |
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[2551] | 493 | |
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| 494 | float tr, s, q[4]; |
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| 495 | int i, j, k; |
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| 496 | |
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| 497 | int nxt[3] = {1, 2, 0}; |
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| 498 | |
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| 499 | tr = m[0][0] + m[1][1] + m[2][2]; |
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| 500 | |
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| 501 | // check the diagonal |
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[2190] | 502 | if (tr > 0.0) |
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[2551] | 503 | { |
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| 504 | s = sqrt (tr + 1.0); |
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| 505 | w = s / 2.0; |
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| 506 | s = 0.5 / s; |
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| 507 | v.x = (m[1][2] - m[2][1]) * s; |
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| 508 | v.y = (m[2][0] - m[0][2]) * s; |
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| 509 | v.z = (m[0][1] - m[1][0]) * s; |
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[2190] | 510 | } |
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| 511 | else |
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[2551] | 512 | { |
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| 513 | // diagonal is negative |
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| 514 | i = 0; |
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| 515 | if (m[1][1] > m[0][0]) i = 1; |
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| 516 | if (m[2][2] > m[i][i]) i = 2; |
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| 517 | j = nxt[i]; |
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| 518 | k = nxt[j]; |
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| 519 | |
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| 520 | s = sqrt ((m[i][i] - (m[j][j] + m[k][k])) + 1.0); |
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| 521 | |
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| 522 | q[i] = s * 0.5; |
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| 523 | |
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| 524 | if (s != 0.0) s = 0.5 / s; |
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[2190] | 525 | |
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[2551] | 526 | q[3] = (m[j][k] - m[k][j]) * s; |
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| 527 | q[j] = (m[i][j] + m[j][i]) * s; |
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| 528 | q[k] = (m[i][k] + m[k][i]) * s; |
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| 529 | |
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| 530 | v.x = q[0]; |
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| 531 | v.y = q[1]; |
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| 532 | v.z = q[2]; |
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| 533 | w = q[3]; |
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[2190] | 534 | } |
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| 535 | } |
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| 536 | |
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| 537 | /** |
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[3541] | 538 | \brief outputs some nice formated debug information about this quaternion |
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| 539 | */ |
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| 540 | void Quaternion::debug(void) |
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| 541 | { |
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| 542 | PRINT(0)("Quaternion Debug Information\n"); |
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| 543 | PRINT(0)("real a=%f; imag: x=%f y=%f z=%f\n", w, v.x, v.y, v.z); |
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| 544 | } |
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| 545 | |
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| 546 | /** |
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[2043] | 547 | \brief create a rotation from a vector |
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| 548 | \param v: a vector |
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| 549 | */ |
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| 550 | Rotation::Rotation (const Vector& v) |
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| 551 | { |
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| 552 | Vector x = Vector( 1, 0, 0); |
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| 553 | Vector axis = x.cross( v); |
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| 554 | axis.normalize(); |
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[3234] | 555 | float angle = angleRad( x, v); |
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[2043] | 556 | float ca = cos(angle); |
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| 557 | float sa = sin(angle); |
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| 558 | m[0] = 1.0f+(1.0f-ca)*(axis.x*axis.x-1.0f); |
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| 559 | m[1] = -axis.z*sa+(1.0f-ca)*axis.x*axis.y; |
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| 560 | m[2] = axis.y*sa+(1.0f-ca)*axis.x*axis.z; |
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| 561 | m[3] = axis.z*sa+(1.0f-ca)*axis.x*axis.y; |
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| 562 | m[4] = 1.0f+(1.0f-ca)*(axis.y*axis.y-1.0f); |
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| 563 | m[5] = -axis.x*sa+(1.0f-ca)*axis.y*axis.z; |
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| 564 | m[6] = -axis.y*sa+(1.0f-ca)*axis.x*axis.z; |
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| 565 | m[7] = axis.x*sa+(1.0f-ca)*axis.y*axis.z; |
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| 566 | m[8] = 1.0f+(1.0f-ca)*(axis.z*axis.z-1.0f); |
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| 567 | } |
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| 568 | |
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| 569 | /** |
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| 570 | \brief creates a rotation from an axis and an angle (radians!) |
---|
| 571 | \param axis: the rotational axis |
---|
| 572 | \param angle: the angle in radians |
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| 573 | */ |
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| 574 | Rotation::Rotation (const Vector& axis, float angle) |
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| 575 | { |
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| 576 | float ca, sa; |
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| 577 | ca = cos(angle); |
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| 578 | sa = sin(angle); |
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| 579 | m[0] = 1.0f+(1.0f-ca)*(axis.x*axis.x-1.0f); |
---|
| 580 | m[1] = -axis.z*sa+(1.0f-ca)*axis.x*axis.y; |
---|
| 581 | m[2] = axis.y*sa+(1.0f-ca)*axis.x*axis.z; |
---|
| 582 | m[3] = axis.z*sa+(1.0f-ca)*axis.x*axis.y; |
---|
| 583 | m[4] = 1.0f+(1.0f-ca)*(axis.y*axis.y-1.0f); |
---|
| 584 | m[5] = -axis.x*sa+(1.0f-ca)*axis.y*axis.z; |
---|
| 585 | m[6] = -axis.y*sa+(1.0f-ca)*axis.x*axis.z; |
---|
| 586 | m[7] = axis.x*sa+(1.0f-ca)*axis.y*axis.z; |
---|
| 587 | m[8] = 1.0f+(1.0f-ca)*(axis.z*axis.z-1.0f); |
---|
| 588 | } |
---|
| 589 | |
---|
| 590 | /** |
---|
| 591 | \brief creates a rotation from euler angles (pitch/yaw/roll) |
---|
| 592 | \param pitch: rotation around z (in radians) |
---|
| 593 | \param yaw: rotation around y (in radians) |
---|
| 594 | \param roll: rotation around x (in radians) |
---|
| 595 | */ |
---|
| 596 | Rotation::Rotation ( float pitch, float yaw, float roll) |
---|
| 597 | { |
---|
| 598 | float cy, sy, cr, sr, cp, sp; |
---|
| 599 | cy = cos(yaw); |
---|
| 600 | sy = sin(yaw); |
---|
| 601 | cr = cos(roll); |
---|
| 602 | sr = sin(roll); |
---|
| 603 | cp = cos(pitch); |
---|
| 604 | sp = sin(pitch); |
---|
| 605 | m[0] = cy*cr; |
---|
| 606 | m[1] = -cy*sr; |
---|
| 607 | m[2] = sy; |
---|
| 608 | m[3] = cp*sr+sp*sy*cr; |
---|
| 609 | m[4] = cp*cr-sp*sr*sy; |
---|
| 610 | m[5] = -sp*cy; |
---|
| 611 | m[6] = sp*sr-cp*sy*cr; |
---|
| 612 | m[7] = sp*cr+cp*sy*sr; |
---|
| 613 | m[8] = cp*cy; |
---|
| 614 | } |
---|
| 615 | |
---|
| 616 | /** |
---|
| 617 | \brief creates a nullrotation (an identity rotation) |
---|
| 618 | */ |
---|
| 619 | Rotation::Rotation () |
---|
| 620 | { |
---|
| 621 | m[0] = 1.0f; |
---|
| 622 | m[1] = 0.0f; |
---|
| 623 | m[2] = 0.0f; |
---|
| 624 | m[3] = 0.0f; |
---|
| 625 | m[4] = 1.0f; |
---|
| 626 | m[5] = 0.0f; |
---|
| 627 | m[6] = 0.0f; |
---|
| 628 | m[7] = 0.0f; |
---|
| 629 | m[8] = 1.0f; |
---|
| 630 | } |
---|
| 631 | |
---|
| 632 | /** |
---|
[2190] | 633 | \brief fills the specified buffer with a 4x4 glmatrix |
---|
| 634 | \param buffer: Pointer to an array of 16 floats |
---|
| 635 | |
---|
| 636 | Use this to get the rotation in a gl-compatible format |
---|
| 637 | */ |
---|
| 638 | void Rotation::glmatrix (float* buffer) |
---|
| 639 | { |
---|
| 640 | buffer[0] = m[0]; |
---|
| 641 | buffer[1] = m[3]; |
---|
| 642 | buffer[2] = m[6]; |
---|
| 643 | buffer[3] = m[0]; |
---|
| 644 | buffer[4] = m[1]; |
---|
| 645 | buffer[5] = m[4]; |
---|
| 646 | buffer[6] = m[7]; |
---|
| 647 | buffer[7] = m[0]; |
---|
| 648 | buffer[8] = m[2]; |
---|
| 649 | buffer[9] = m[5]; |
---|
| 650 | buffer[10] = m[8]; |
---|
| 651 | buffer[11] = m[0]; |
---|
| 652 | buffer[12] = m[0]; |
---|
| 653 | buffer[13] = m[0]; |
---|
| 654 | buffer[14] = m[0]; |
---|
| 655 | buffer[15] = m[1]; |
---|
| 656 | } |
---|
| 657 | |
---|
| 658 | /** |
---|
| 659 | \brief multiplies two rotational matrices |
---|
| 660 | \param r: another Rotation |
---|
| 661 | \return the matrix product of the Rotations |
---|
| 662 | |
---|
| 663 | Use this to rotate one rotation by another |
---|
| 664 | */ |
---|
| 665 | Rotation Rotation::operator* (const Rotation& r) |
---|
| 666 | { |
---|
| 667 | Rotation p; |
---|
| 668 | |
---|
| 669 | p.m[0] = m[0]*r.m[0] + m[1]*r.m[3] + m[2]*r.m[6]; |
---|
| 670 | p.m[1] = m[0]*r.m[1] + m[1]*r.m[4] + m[2]*r.m[7]; |
---|
| 671 | p.m[2] = m[0]*r.m[2] + m[1]*r.m[5] + m[2]*r.m[8]; |
---|
| 672 | |
---|
| 673 | p.m[3] = m[3]*r.m[0] + m[4]*r.m[3] + m[5]*r.m[6]; |
---|
| 674 | p.m[4] = m[3]*r.m[1] + m[4]*r.m[4] + m[5]*r.m[7]; |
---|
| 675 | p.m[5] = m[3]*r.m[2] + m[4]*r.m[5] + m[5]*r.m[8]; |
---|
| 676 | |
---|
| 677 | p.m[6] = m[6]*r.m[0] + m[7]*r.m[3] + m[8]*r.m[6]; |
---|
| 678 | p.m[7] = m[6]*r.m[1] + m[7]*r.m[4] + m[8]*r.m[7]; |
---|
| 679 | p.m[8] = m[6]*r.m[2] + m[7]*r.m[5] + m[8]*r.m[8]; |
---|
| 680 | |
---|
| 681 | return p; |
---|
| 682 | } |
---|
| 683 | |
---|
| 684 | |
---|
| 685 | /** |
---|
[2043] | 686 | \brief rotates the vector by the given rotation |
---|
| 687 | \param v: a vector |
---|
| 688 | \param r: a rotation |
---|
| 689 | \return the rotated vector |
---|
| 690 | */ |
---|
[3228] | 691 | Vector rotateVector( const Vector& v, const Rotation& r) |
---|
[2043] | 692 | { |
---|
| 693 | Vector t; |
---|
| 694 | |
---|
| 695 | t.x = v.x * r.m[0] + v.y * r.m[1] + v.z * r.m[2]; |
---|
| 696 | t.y = v.x * r.m[3] + v.y * r.m[4] + v.z * r.m[5]; |
---|
| 697 | t.z = v.x * r.m[6] + v.y * r.m[7] + v.z * r.m[8]; |
---|
| 698 | |
---|
| 699 | return t; |
---|
| 700 | } |
---|
| 701 | |
---|
| 702 | /** |
---|
| 703 | \brief calculate the distance between two lines |
---|
| 704 | \param l: the other line |
---|
| 705 | \return the distance between the lines |
---|
| 706 | */ |
---|
| 707 | float Line::distance (const Line& l) const |
---|
| 708 | { |
---|
| 709 | float q, d; |
---|
| 710 | Vector n = a.cross(l.a); |
---|
| 711 | q = n.dot(r-l.r); |
---|
| 712 | d = n.len(); |
---|
| 713 | if( d == 0.0) return 0.0; |
---|
| 714 | return q/d; |
---|
| 715 | } |
---|
| 716 | |
---|
| 717 | /** |
---|
| 718 | \brief calculate the distance between a line and a point |
---|
| 719 | \param v: the point |
---|
| 720 | \return the distance between the Line and the point |
---|
| 721 | */ |
---|
[3228] | 722 | float Line::distancePoint (const Vector& v) const |
---|
[2043] | 723 | { |
---|
| 724 | Vector d = v-r; |
---|
| 725 | Vector u = a * d.dot( a); |
---|
| 726 | return (d - u).len(); |
---|
| 727 | } |
---|
| 728 | |
---|
| 729 | /** |
---|
| 730 | \brief calculate the two points of minimal distance of two lines |
---|
| 731 | \param l: the other line |
---|
| 732 | \return a Vector[2] (!has to be deleted after use!) containing the two points of minimal distance |
---|
| 733 | */ |
---|
| 734 | Vector* Line::footpoints (const Line& l) const |
---|
| 735 | { |
---|
| 736 | Vector* fp = new Vector[2]; |
---|
| 737 | Plane p = Plane (r + a.cross(l.a), r, r + a); |
---|
[3234] | 738 | fp[1] = p.intersectLine (l); |
---|
[2043] | 739 | p = Plane (fp[1], l.a); |
---|
[3234] | 740 | fp[0] = p.intersectLine (*this); |
---|
[2043] | 741 | return fp; |
---|
| 742 | } |
---|
| 743 | |
---|
| 744 | /** |
---|
| 745 | \brief calculate the length of a line |
---|
| 746 | \return the lenght of the line |
---|
| 747 | */ |
---|
| 748 | float Line::len() const |
---|
| 749 | { |
---|
| 750 | return a.len(); |
---|
| 751 | } |
---|
| 752 | |
---|
| 753 | /** |
---|
| 754 | \brief rotate the line by given rotation |
---|
| 755 | \param rot: a rotation |
---|
| 756 | */ |
---|
| 757 | void Line::rotate (const Rotation& rot) |
---|
| 758 | { |
---|
| 759 | Vector t = a + r; |
---|
[3234] | 760 | t = rotateVector( t, rot); |
---|
| 761 | r = rotateVector( r, rot), |
---|
[2043] | 762 | a = t - r; |
---|
| 763 | } |
---|
| 764 | |
---|
| 765 | /** |
---|
| 766 | \brief create a plane from three points |
---|
| 767 | \param a: first point |
---|
| 768 | \param b: second point |
---|
| 769 | \param c: third point |
---|
| 770 | */ |
---|
| 771 | Plane::Plane (Vector a, Vector b, Vector c) |
---|
| 772 | { |
---|
| 773 | n = (a-b).cross(c-b); |
---|
| 774 | k = -(n.x*b.x+n.y*b.y+n.z*b.z); |
---|
| 775 | } |
---|
| 776 | |
---|
| 777 | /** |
---|
| 778 | \brief create a plane from anchor point and normal |
---|
[3449] | 779 | \param norm: normal vector |
---|
[2043] | 780 | \param p: anchor point |
---|
| 781 | */ |
---|
| 782 | Plane::Plane (Vector norm, Vector p) |
---|
| 783 | { |
---|
| 784 | n = norm; |
---|
| 785 | k = -(n.x*p.x+n.y*p.y+n.z*p.z); |
---|
| 786 | } |
---|
| 787 | |
---|
| 788 | /** |
---|
| 789 | \brief returns the intersection point between the plane and a line |
---|
| 790 | \param l: a line |
---|
| 791 | */ |
---|
[3228] | 792 | Vector Plane::intersectLine (const Line& l) const |
---|
[2043] | 793 | { |
---|
| 794 | if (n.x*l.a.x+n.y*l.a.y+n.z*l.a.z == 0.0) return Vector(0,0,0); |
---|
| 795 | float t = (n.x*l.r.x+n.y*l.r.y+n.z*l.r.z+k) / (n.x*l.a.x+n.y*l.a.y+n.z*l.a.z); |
---|
| 796 | return l.r + (l.a * t); |
---|
| 797 | } |
---|
| 798 | |
---|
| 799 | /** |
---|
| 800 | \brief returns the distance between the plane and a point |
---|
| 801 | \param p: a Point |
---|
| 802 | \return the distance between the plane and the point (can be negative) |
---|
| 803 | */ |
---|
[3228] | 804 | float Plane::distancePoint (const Vector& p) const |
---|
[2043] | 805 | { |
---|
| 806 | float l = n.len(); |
---|
| 807 | if( l == 0.0) return 0.0; |
---|
| 808 | return (n.dot(p) + k) / n.len(); |
---|
| 809 | } |
---|
| 810 | |
---|
| 811 | /** |
---|
| 812 | \brief returns the side a point is located relative to a Plane |
---|
| 813 | \param p: a Point |
---|
| 814 | \return 0 if the point is contained within the Plane, positive(negative) if the point is in the positive(negative) semi-space of the Plane |
---|
| 815 | */ |
---|
[3228] | 816 | float Plane::locatePoint (const Vector& p) const |
---|
[2043] | 817 | { |
---|
| 818 | return (n.dot(p) + k); |
---|
| 819 | } |
---|
[3000] | 820 | |
---|