Changeset 6616 in orxonox.OLD for trunk/src/lib/math/vector.cc

Timestamp:

Jan 19, 2006, 12:27:45 PM (19 years ago)

Author:

bensch

Message:

orxonox/trunk: taken the quaternion outside of Vector.cc to quaternion.cc/h

File:

• trunk/src/lib/math/vector.cc (modified) (1 diff)

trunk/src/lib/math/vector.cc

@@ -66 +66 @@
   PRINT(0)(" lenght: %f", len());
   PRINT(0)("\n");
-}
-
-/////////////////
-/* QUATERNIONS */
-/////////////////
-/**
- *  calculates a lookAt rotation
- * @param dir: the direction you want to look
- * @param up: specify what direction up should be
-
-   Mathematically this determines the rotation a (0,0,1)-Vector has to undergo to point
-   the same way as dir. If you want to use this with cameras, you'll have to reverse the
-   dir Vector (Vector(0,0,0) - your viewing direction) or you'll point the wrong way. You
-   can use this for meshes as well (then you do not have to reverse the vector), but keep
-   in mind that if you do that, the model's front has to point in +z direction, and left
-   and right should be -x or +x respectively or the mesh wont rotate correctly.
- *
- * @TODO !!! OPTIMIZE THIS !!!
- */
-Quaternion::Quaternion (const Vector& dir, const Vector& up)
-{
-  Vector z = dir.getNormalized();
-  Vector x = up.cross(z).getNormalized();
-  Vector y = z.cross(x);
-
-  float m[4][4];
-  m[0][0] = x.x;
-  m[0][1] = x.y;
-  m[0][2] = x.z;
-  m[0][3] = 0;
-  m[1][0] = y.x;
-  m[1][1] = y.y;
-  m[1][2] = y.z;
-  m[1][3] = 0;
-  m[2][0] = z.x;
-  m[2][1] = z.y;
-  m[2][2] = z.z;
-  m[2][3] = 0;
-  m[3][0] = 0;
-  m[3][1] = 0;
-  m[3][2] = 0;
-  m[3][3] = 1;
-
-  *this = Quaternion (m);
-}
-
-/**
- *  calculates a rotation from euler angles
- * @param roll: the roll in radians
- * @param pitch: the pitch in radians
- * @param yaw: the yaw in radians
- */
-Quaternion::Quaternion (float roll, float pitch, float yaw)
-{
-  float cr, cp, cy, sr, sp, sy, cpcy, spsy;
-
-  // calculate trig identities
-  cr = cos(roll/2);
-  cp = cos(pitch/2);
-  cy = cos(yaw/2);
-
-  sr = sin(roll/2);
-  sp = sin(pitch/2);
-  sy = sin(yaw/2);
-
-  cpcy = cp * cy;
-  spsy = sp * sy;
-
-  w = cr * cpcy + sr * spsy;
-  v.x = sr * cpcy - cr * spsy;
-  v.y = cr * sp * cy + sr * cp * sy;
-  v.z = cr * cp * sy - sr * sp * cy;
-}
-
-/**
- *  convert the Quaternion to a 4x4 rotational glMatrix
- * @param m: a buffer to store the Matrix in
- */
-void Quaternion::matrix (float m[4][4]) const
-{
-  float wx, wy, wz, xx, yy, yz, xy, xz, zz, x2, y2, z2;
-
-  // calculate coefficients
-  x2 = v.x + v.x;
-  y2 = v.y + v.y;
-  z2 = v.z + v.z;
-  xx = v.x * x2; xy = v.x * y2; xz = v.x * z2;
-  yy = v.y * y2; yz = v.y * z2; zz = v.z * z2;
-  wx = w * x2; wy = w * y2; wz = w * z2;
-
-  m[0][0] = 1.0 - (yy + zz); m[1][0] = xy - wz;
-  m[2][0] = xz + wy; m[3][0] = 0.0;
-
-  m[0][1] = xy + wz; m[1][1] = 1.0 - (xx + zz);
-  m[2][1] = yz - wx; m[3][1] = 0.0;
-
-  m[0][2] = xz - wy; m[1][2] = yz + wx;
-  m[2][2] = 1.0 - (xx + yy); m[3][2] = 0.0;
-
-  m[0][3] = 0; m[1][3] = 0;
-  m[2][3] = 0; m[3][3] = 1;
-}
-
-/**
- *  performs a smooth move.
- * @param from  where
- * @param to where
- * @param t the time this transformation should take value [0..1]
- * @returns the Result of the smooth move
- */
-Quaternion Quaternion::quatSlerp(const Quaternion& from, const Quaternion& to, float t)
-{
-  float tol[4];
-  double omega, cosom, sinom, scale0, scale1;
-  //  float DELTA = 0.2;
-
-  cosom = from.v.x * to.v.x + from.v.y * to.v.y + from.v.z * to.v.z + from.w * to.w;
-
-  if( cosom < 0.0 )
-    {
-      cosom = -cosom;
-      tol[0] = -to.v.x;
-      tol[1] = -to.v.y;
-      tol[2] = -to.v.z;
-      tol[3] = -to.w;
-    }
-  else
-    {
-      tol[0] = to.v.x;
-      tol[1] = to.v.y;
-      tol[2] = to.v.z;
-      tol[3] = to.w;
-    }
-
-  omega = acos(cosom);
-  sinom = sin(omega);
-  scale0 = sin((1.0 - t) * omega) / sinom;
-  scale1 = sin(t * omega) / sinom;
-  return Quaternion(Vector(scale0 * from.v.x + scale1 * tol[0],
-                    scale0 * from.v.y + scale1 * tol[1],
-                    scale0 * from.v.z + scale1 * tol[2]),
-                    scale0 * from.w + scale1 * tol[3]);
-}
-
-
-/**
- *  convert a rotational 4x4 glMatrix into a Quaternion
- * @param m: a 4x4 matrix in glMatrix order
- */
-Quaternion::Quaternion (float m[4][4])
-{
-
-  float  tr, s, q[4];
-  int    i, j, k;
-
-  int nxt[3] = {1, 2, 0};
-
-  tr = m[0][0] + m[1][1] + m[2][2];
-
-        // check the diagonal
-  if (tr > 0.0)
-  {
-    s = sqrt (tr + 1.0);
-    w = s / 2.0;
-    s = 0.5 / s;
-    v.x = (m[1][2] - m[2][1]) * s;
-    v.y = (m[2][0] - m[0][2]) * s;
-    v.z = (m[0][1] - m[1][0]) * s;
-        }
-        else
-        {
-                // diagonal is negative
-        i = 0;
-        if (m[1][1] > m[0][0]) i = 1;
-    if (m[2][2] > m[i][i]) i = 2;
-    j = nxt[i];
-    k = nxt[j];
-
-    s = sqrt ((m[i][i] - (m[j][j] + m[k][k])) + 1.0);
-
-    q[i] = s * 0.5;
-
-    if (s != 0.0) s = 0.5 / s;
-
-          q[3] = (m[j][k] - m[k][j]) * s;
-    q[j] = (m[i][j] + m[j][i]) * s;
-    q[k] = (m[i][k] + m[k][i]) * s;
-
-        v.x = q[0];
-        v.y = q[1];
-        v.z = q[2];
-        w = q[3];
-  }
-}
-
-/**
- *  outputs some nice formated debug information about this quaternion
-*/
-void Quaternion::debug()
-{
-  PRINT(0)("real a=%f; imag: x=%f y=%f z=%f\n", w, v.x, v.y, v.z);
-}
-
-void Quaternion::debug2()
-{
-  Vector axis = this->getSpacialAxis();
-  PRINT(0)("angle = %f, axis: ax=%f, ay=%f, az=%f\n", this->getSpacialAxisAngle(), axis.x, axis.y, axis.z );
 }