mirror of
https://github.com/AquariaOSE/Aquaria.git
synced 2024-11-25 09:44:02 +00:00
304 lines
7.6 KiB
Text
304 lines
7.6 KiB
Text
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
|
||
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
// Created : 2005-12-21
|
||
|
|
// Updated : 2008-11-27
|
||
|
|
// Licence : This source is under MIT License
|
||
|
|
// File : glm/gtx/quaternion.inl
|
||
|
|
///////////////////////////////////////////////////////////////////////////////////////////////////
|
||
|
|
|
||
|
|
#include <limits>
|
||
|
|
|
||
|
|
namespace glm{
|
||
|
|
namespace gtx{
|
||
|
|
namespace quaternion
|
||
|
|
{
|
||
|
|
template <typename valType>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tvec3<valType> cross
|
||
|
|
(
|
||
|
|
detail::tvec3<valType> const & v,
|
||
|
|
detail::tquat<valType> const & q
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return gtc::quaternion::inverse(q) * v;
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename valType>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tvec3<valType> cross
|
||
|
|
(
|
||
|
|
detail::tquat<valType> const & q,
|
||
|
|
detail::tvec3<valType> const & v
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return q * v;
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tquat<T> squad
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & q1,
|
||
|
|
detail::tquat<T> const & q2,
|
||
|
|
detail::tquat<T> const & s1,
|
||
|
|
detail::tquat<T> const & s2,
|
||
|
|
T const & h)
|
||
|
|
{
|
||
|
|
return mix(mix(q1, q2, h), mix(s1, s2, h), T(2) * h (T(1) - h));
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tquat<T> intermediate
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & prev,
|
||
|
|
detail::tquat<T> const & curr,
|
||
|
|
detail::tquat<T> const & next
|
||
|
|
)
|
||
|
|
{
|
||
|
|
detail::tquat<T> invQuat = gtc::quaternion::inverse(curr);
|
||
|
|
return ext((log(next + invQuat) + log(prev + invQuat)) / T(-4)) * curr;
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tquat<T> exp
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & q,
|
||
|
|
T const & exponent
|
||
|
|
)
|
||
|
|
{
|
||
|
|
detail::tvec3<T> u(q.x, q.y, q.z);
|
||
|
|
float a = glm::length(u);
|
||
|
|
detail::tvec3<T> v(u / a);
|
||
|
|
return detail::tquat<T>(cos(a), sin(a) * v);
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tquat<T> log
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & q
|
||
|
|
)
|
||
|
|
{
|
||
|
|
if((q.x == T(0)) && (q.y == T(0)) && (q.z == T(0)))
|
||
|
|
{
|
||
|
|
if(q.w > T(0))
|
||
|
|
return detail::tquat<T>(log(q.w), T(0), T(0), T(0));
|
||
|
|
else if(q.w < T(0))
|
||
|
|
return detail::tquat<T>(log(-q.w), T(3.1415926535897932384626433832795), T(0),T(0));
|
||
|
|
else
|
||
|
|
return detail::tquat<T>(std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity());
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
T Vec3Len = sqrt(q.x * q.x + q.y * q.y + q.z * q.z);
|
||
|
|
T QuatLen = sqrt(Vec3Len * Vec3Len + q.w * q.w);
|
||
|
|
T t = atan(Vec3Len, T(q.w)) / Vec3Len;
|
||
|
|
return detail::tquat<T>(t * q.x, t * q.y, t * q.z, log(QuatLen));
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tquat<T> pow
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & x,
|
||
|
|
T const & y
|
||
|
|
)
|
||
|
|
{
|
||
|
|
if(abs(x.w) > T(0.9999))
|
||
|
|
return x;
|
||
|
|
float Angle = acos(y);
|
||
|
|
float NewAngle = Angle * y;
|
||
|
|
float Div = sin(NewAngle) / sin(Angle);
|
||
|
|
return detail::tquat<T>(
|
||
|
|
cos(NewAngle),
|
||
|
|
x.x * Div,
|
||
|
|
x.y * Div,
|
||
|
|
x.z * Div);
|
||
|
|
}
|
||
|
|
|
||
|
|
//template <typename T>
|
||
|
|
//GLM_FUNC_QUALIFIER detail::tquat<T> sqrt
|
||
|
|
//(
|
||
|
|
// detail::tquat<T> const & q
|
||
|
|
//)
|
||
|
|
//{
|
||
|
|
// T q0 = T(1) - dot(q, q);
|
||
|
|
// return T(2) * (T(1) + q0) * q;
|
||
|
|
//}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tvec3<T> rotate
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & q,
|
||
|
|
detail::tvec3<T> const & v
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return q * v;
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tvec4<T> rotate
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & q,
|
||
|
|
detail::tvec4<T> const & v
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return q * v;
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER T angle
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & x
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return acos(x.w) * T(2);
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tvec3<T> axis
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & x
|
||
|
|
)
|
||
|
|
{
|
||
|
|
T tmp1 = T(1) - x.w * x.w;
|
||
|
|
if(tmp1 <= T(0))
|
||
|
|
return detail::tvec3<T>(0, 0, 1);
|
||
|
|
T tmp2 = T(1) / sqrt(tmp1);
|
||
|
|
return detail::tvec3<T>(x.x * tmp2, x.y * tmp2, x.z * tmp2);
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename valType>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tquat<valType> angleAxis
|
||
|
|
(
|
||
|
|
valType const & angle,
|
||
|
|
valType const & x,
|
||
|
|
valType const & y,
|
||
|
|
valType const & z
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return angleAxis(angle, detail::tvec3<valType>(x, y, z));
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename valType>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tquat<valType> angleAxis
|
||
|
|
(
|
||
|
|
valType const & angle,
|
||
|
|
detail::tvec3<valType> const & v
|
||
|
|
)
|
||
|
|
{
|
||
|
|
detail::tquat<valType> result;
|
||
|
|
|
||
|
|
valType a = glm::radians(angle);
|
||
|
|
valType s = glm::sin(a * valType(0.5));
|
||
|
|
|
||
|
|
result.w = glm::cos(a * valType(0.5));
|
||
|
|
result.x = v.x * s;
|
||
|
|
result.y = v.y * s;
|
||
|
|
result.z = v.z * s;
|
||
|
|
return result;
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER T extractRealComponent
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & q
|
||
|
|
)
|
||
|
|
{
|
||
|
|
T w = T(1.0) - q.x * q.x - q.y * q.y - q.z * q.z;
|
||
|
|
if(w < T(0))
|
||
|
|
return T(0);
|
||
|
|
else
|
||
|
|
return -sqrt(w);
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename valType>
|
||
|
|
GLM_FUNC_QUALIFIER valType roll
|
||
|
|
(
|
||
|
|
detail::tquat<valType> const & q
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return atan2(valType(2) * (q.x * q.y + q.w * q.z), q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z);
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename valType>
|
||
|
|
GLM_FUNC_QUALIFIER valType pitch
|
||
|
|
(
|
||
|
|
detail::tquat<valType> const & q
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return atan2(valType(2) * (q.y * q.z + q.w * q.x), q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z);
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename valType>
|
||
|
|
GLM_FUNC_QUALIFIER valType yaw
|
||
|
|
(
|
||
|
|
detail::tquat<valType> const & q
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return asin(valType(-2) * (q.x * q.z - q.w * q.y));
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename valType>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tvec3<valType> eularAngles
|
||
|
|
(
|
||
|
|
detail::tquat<valType> const & x
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return detail::tvec3<valType>(pitch(x), yaw(x), roll(x));
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tquat<T> shortMix
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & x,
|
||
|
|
detail::tquat<T> const & y,
|
||
|
|
T const & a
|
||
|
|
)
|
||
|
|
{
|
||
|
|
if(a <= typename detail::tquat<T>::value_type(0)) return x;
|
||
|
|
if(a >= typename detail::tquat<T>::value_type(1)) return y;
|
||
|
|
|
||
|
|
float fCos = dot(x, y);
|
||
|
|
detail::tquat<T> y2(y); //BUG!!! tquat<T> y2;
|
||
|
|
if(fCos < typename detail::tquat<T>::value_type(0))
|
||
|
|
{
|
||
|
|
y2 = -y;
|
||
|
|
fCos = -fCos;
|
||
|
|
}
|
||
|
|
|
||
|
|
//if(fCos > 1.0f) // problem
|
||
|
|
float k0, k1;
|
||
|
|
if(fCos > typename detail::tquat<T>::value_type(0.9999))
|
||
|
|
{
|
||
|
|
k0 = typename detail::tquat<T>::value_type(1) - a;
|
||
|
|
k1 = typename detail::tquat<T>::value_type(0) + a; //BUG!!! 1.0f + a;
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
typename detail::tquat<T>::value_type fSin = sqrt(T(1) - fCos * fCos);
|
||
|
|
typename detail::tquat<T>::value_type fAngle = atan(fSin, fCos);
|
||
|
|
typename detail::tquat<T>::value_type fOneOverSin = T(1) / fSin;
|
||
|
|
k0 = sin((typename detail::tquat<T>::value_type(1) - a) * fAngle) * fOneOverSin;
|
||
|
|
k1 = sin((typename detail::tquat<T>::value_type(0) + a) * fAngle) * fOneOverSin;
|
||
|
|
}
|
||
|
|
|
||
|
|
return detail::tquat<T>(
|
||
|
|
k0 * x.w + k1 * y2.w,
|
||
|
|
k0 * x.x + k1 * y2.x,
|
||
|
|
k0 * x.y + k1 * y2.y,
|
||
|
|
k0 * x.z + k1 * y2.z);
|
||
|
|
}
|
||
|
|
|
||
|
|
template <typename T>
|
||
|
|
GLM_FUNC_QUALIFIER detail::tquat<T> fastMix
|
||
|
|
(
|
||
|
|
detail::tquat<T> const & x,
|
||
|
|
detail::tquat<T> const & y,
|
||
|
|
T const & a
|
||
|
|
)
|
||
|
|
{
|
||
|
|
return glm::normalize(x * (1 - a) + (y * a));
|
||
|
|
}
|
||
|
|
|
||
|
|
}//namespace quaternion
|
||
|
|
}//namespace gtx
|
||
|
|
}//namespace glm
|