284 lines
10 KiB
Plaintext
284 lines
10 KiB
Plaintext
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/*
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---------------------------------------------------------------------------
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Open Asset Import Library (assimp)
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---------------------------------------------------------------------------
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Copyright (c) 2006-2016, assimp team
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All rights reserved.
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Redistribution and use of this software in source and binary forms,
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with or without modification, are permitted provided that the following
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conditions are met:
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* Redistributions of source code must retain the above
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copyright notice, this list of conditions and the
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following disclaimer.
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* Redistributions in binary form must reproduce the above
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copyright notice, this list of conditions and the
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following disclaimer in the documentation and/or other
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materials provided with the distribution.
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* Neither the name of the assimp team, nor the names of its
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contributors may be used to endorse or promote products
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derived from this software without specific prior
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written permission of the assimp team.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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---------------------------------------------------------------------------
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*/
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/** @file quaternion.inl
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* @brief Inline implementation of aiQuaterniont<TReal> operators
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*/
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#ifndef AI_QUATERNION_INL_INC
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#define AI_QUATERNION_INL_INC
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#ifdef __cplusplus
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#include "quaternion.h"
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#include <cmath>
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// ---------------------------------------------------------------------------
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template<typename TReal>
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bool aiQuaterniont<TReal>::operator== (const aiQuaterniont& o) const
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{
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return x == o.x && y == o.y && z == o.z && w == o.w;
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}
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// ---------------------------------------------------------------------------
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template<typename TReal>
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bool aiQuaterniont<TReal>::operator!= (const aiQuaterniont& o) const
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{
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return !(*this == o);
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}
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// ---------------------------------------------------------------------------
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template<typename TReal>
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inline bool aiQuaterniont<TReal>::Equal(const aiQuaterniont& o, TReal epsilon) const {
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return
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std::abs(x - o.x) <= epsilon &&
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std::abs(y - o.y) <= epsilon &&
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std::abs(z - o.z) <= epsilon &&
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std::abs(w - o.w) <= epsilon;
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}
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// ---------------------------------------------------------------------------
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// Constructs a quaternion from a rotation matrix
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template<typename TReal>
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inline aiQuaterniont<TReal>::aiQuaterniont( const aiMatrix3x3t<TReal> &pRotMatrix)
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{
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TReal t = pRotMatrix.a1 + pRotMatrix.b2 + pRotMatrix.c3;
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// large enough
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if( t > static_cast<TReal>(0))
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{
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TReal s = std::sqrt(1 + t) * static_cast<TReal>(2.0);
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x = (pRotMatrix.c2 - pRotMatrix.b3) / s;
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y = (pRotMatrix.a3 - pRotMatrix.c1) / s;
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z = (pRotMatrix.b1 - pRotMatrix.a2) / s;
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w = static_cast<TReal>(0.25) * s;
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} // else we have to check several cases
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else if( pRotMatrix.a1 > pRotMatrix.b2 && pRotMatrix.a1 > pRotMatrix.c3 )
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{
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// Column 0:
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TReal s = std::sqrt( static_cast<TReal>(1.0) + pRotMatrix.a1 - pRotMatrix.b2 - pRotMatrix.c3) * static_cast<TReal>(2.0);
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x = static_cast<TReal>(0.25) * s;
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y = (pRotMatrix.b1 + pRotMatrix.a2) / s;
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z = (pRotMatrix.a3 + pRotMatrix.c1) / s;
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w = (pRotMatrix.c2 - pRotMatrix.b3) / s;
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}
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else if( pRotMatrix.b2 > pRotMatrix.c3)
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{
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// Column 1:
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TReal s = std::sqrt( static_cast<TReal>(1.0) + pRotMatrix.b2 - pRotMatrix.a1 - pRotMatrix.c3) * static_cast<TReal>(2.0);
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x = (pRotMatrix.b1 + pRotMatrix.a2) / s;
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y = static_cast<TReal>(0.25) * s;
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z = (pRotMatrix.c2 + pRotMatrix.b3) / s;
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w = (pRotMatrix.a3 - pRotMatrix.c1) / s;
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} else
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{
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// Column 2:
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TReal s = std::sqrt( static_cast<TReal>(1.0) + pRotMatrix.c3 - pRotMatrix.a1 - pRotMatrix.b2) * static_cast<TReal>(2.0);
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x = (pRotMatrix.a3 + pRotMatrix.c1) / s;
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y = (pRotMatrix.c2 + pRotMatrix.b3) / s;
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z = static_cast<TReal>(0.25) * s;
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w = (pRotMatrix.b1 - pRotMatrix.a2) / s;
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}
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}
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// ---------------------------------------------------------------------------
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// Construction from euler angles
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template<typename TReal>
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inline aiQuaterniont<TReal>::aiQuaterniont( TReal fPitch, TReal fYaw, TReal fRoll )
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{
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const TReal fSinPitch(std::sin(fPitch*static_cast<TReal>(0.5)));
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const TReal fCosPitch(std::cos(fPitch*static_cast<TReal>(0.5)));
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const TReal fSinYaw(std::sin(fYaw*static_cast<TReal>(0.5)));
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const TReal fCosYaw(std::cos(fYaw*static_cast<TReal>(0.5)));
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const TReal fSinRoll(std::sin(fRoll*static_cast<TReal>(0.5)));
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const TReal fCosRoll(std::cos(fRoll*static_cast<TReal>(0.5)));
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const TReal fCosPitchCosYaw(fCosPitch*fCosYaw);
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const TReal fSinPitchSinYaw(fSinPitch*fSinYaw);
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x = fSinRoll * fCosPitchCosYaw - fCosRoll * fSinPitchSinYaw;
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y = fCosRoll * fSinPitch * fCosYaw + fSinRoll * fCosPitch * fSinYaw;
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z = fCosRoll * fCosPitch * fSinYaw - fSinRoll * fSinPitch * fCosYaw;
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w = fCosRoll * fCosPitchCosYaw + fSinRoll * fSinPitchSinYaw;
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}
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// ---------------------------------------------------------------------------
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// Returns a matrix representation of the quaternion
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template<typename TReal>
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inline aiMatrix3x3t<TReal> aiQuaterniont<TReal>::GetMatrix() const
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{
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aiMatrix3x3t<TReal> resMatrix;
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resMatrix.a1 = static_cast<TReal>(1.0) - static_cast<TReal>(2.0) * (y * y + z * z);
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resMatrix.a2 = static_cast<TReal>(2.0) * (x * y - z * w);
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resMatrix.a3 = static_cast<TReal>(2.0) * (x * z + y * w);
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resMatrix.b1 = static_cast<TReal>(2.0) * (x * y + z * w);
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resMatrix.b2 = static_cast<TReal>(1.0) - static_cast<TReal>(2.0) * (x * x + z * z);
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resMatrix.b3 = static_cast<TReal>(2.0) * (y * z - x * w);
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resMatrix.c1 = static_cast<TReal>(2.0) * (x * z - y * w);
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resMatrix.c2 = static_cast<TReal>(2.0) * (y * z + x * w);
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resMatrix.c3 = static_cast<TReal>(1.0) - static_cast<TReal>(2.0) * (x * x + y * y);
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return resMatrix;
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}
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// ---------------------------------------------------------------------------
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// Construction from an axis-angle pair
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template<typename TReal>
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inline aiQuaterniont<TReal>::aiQuaterniont( aiVector3t<TReal> axis, TReal angle)
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{
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axis.Normalize();
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const TReal sin_a = std::sin( angle / 2 );
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const TReal cos_a = std::cos( angle / 2 );
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x = axis.x * sin_a;
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y = axis.y * sin_a;
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z = axis.z * sin_a;
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w = cos_a;
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}
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// ---------------------------------------------------------------------------
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// Construction from am existing, normalized quaternion
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template<typename TReal>
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inline aiQuaterniont<TReal>::aiQuaterniont( aiVector3t<TReal> normalized)
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{
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x = normalized.x;
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y = normalized.y;
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z = normalized.z;
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const TReal t = static_cast<TReal>(1.0) - (x*x) - (y*y) - (z*z);
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if (t < static_cast<TReal>(0.0)) {
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w = static_cast<TReal>(0.0);
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}
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else w = std::sqrt (t);
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}
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// ---------------------------------------------------------------------------
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// Performs a spherical interpolation between two quaternions
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// Implementation adopted from the gmtl project. All others I found on the net fail in some cases.
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// Congrats, gmtl!
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template<typename TReal>
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inline void aiQuaterniont<TReal>::Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart, const aiQuaterniont& pEnd, TReal pFactor)
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{
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// calc cosine theta
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TReal cosom = pStart.x * pEnd.x + pStart.y * pEnd.y + pStart.z * pEnd.z + pStart.w * pEnd.w;
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// adjust signs (if necessary)
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aiQuaterniont end = pEnd;
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if( cosom < static_cast<TReal>(0.0))
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{
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cosom = -cosom;
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end.x = -end.x; // Reverse all signs
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end.y = -end.y;
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end.z = -end.z;
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end.w = -end.w;
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}
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// Calculate coefficients
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TReal sclp, sclq;
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if( (static_cast<TReal>(1.0) - cosom) > static_cast<TReal>(0.0001)) // 0.0001 -> some epsillon
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{
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// Standard case (slerp)
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TReal omega, sinom;
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omega = std::acos( cosom); // extract theta from dot product's cos theta
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sinom = std::sin( omega);
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sclp = std::sin( (static_cast<TReal>(1.0) - pFactor) * omega) / sinom;
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sclq = std::sin( pFactor * omega) / sinom;
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} else
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{
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// Very close, do linear interp (because it's faster)
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sclp = static_cast<TReal>(1.0) - pFactor;
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sclq = pFactor;
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}
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pOut.x = sclp * pStart.x + sclq * end.x;
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pOut.y = sclp * pStart.y + sclq * end.y;
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pOut.z = sclp * pStart.z + sclq * end.z;
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pOut.w = sclp * pStart.w + sclq * end.w;
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}
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// ---------------------------------------------------------------------------
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template<typename TReal>
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inline aiQuaterniont<TReal>& aiQuaterniont<TReal>::Normalize()
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{
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// compute the magnitude and divide through it
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const TReal mag = std::sqrt(x*x + y*y + z*z + w*w);
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if (mag)
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{
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const TReal invMag = static_cast<TReal>(1.0)/mag;
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x *= invMag;
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y *= invMag;
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z *= invMag;
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w *= invMag;
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}
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return *this;
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}
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// ---------------------------------------------------------------------------
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template<typename TReal>
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inline aiQuaterniont<TReal> aiQuaterniont<TReal>::operator* (const aiQuaterniont& t) const
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{
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return aiQuaterniont(w*t.w - x*t.x - y*t.y - z*t.z,
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w*t.x + x*t.w + y*t.z - z*t.y,
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w*t.y + y*t.w + z*t.x - x*t.z,
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w*t.z + z*t.w + x*t.y - y*t.x);
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}
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// ---------------------------------------------------------------------------
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template<typename TReal>
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inline aiQuaterniont<TReal>& aiQuaterniont<TReal>::Conjugate ()
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{
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x = -x;
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y = -y;
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z = -z;
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return *this;
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}
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// ---------------------------------------------------------------------------
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template<typename TReal>
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inline aiVector3t<TReal> aiQuaterniont<TReal>::Rotate (const aiVector3t<TReal>& v)
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{
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aiQuaterniont q2(0.f,v.x,v.y,v.z), q = *this, qinv = q;
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qinv.Conjugate();
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q = q*q2*qinv;
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return aiVector3t<TReal>(q.x,q.y,q.z);
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}
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#endif
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#endif
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