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Diffstat (limited to '3rdparty/assimp/include/aiQuaternion.h')
| -rw-r--r-- | 3rdparty/assimp/include/aiQuaternion.h | 311 |
1 files changed, 0 insertions, 311 deletions
diff --git a/3rdparty/assimp/include/aiQuaternion.h b/3rdparty/assimp/include/aiQuaternion.h deleted file mode 100644 index 790cd060..00000000 --- a/3rdparty/assimp/include/aiQuaternion.h +++ /dev/null @@ -1,311 +0,0 @@ -/* -Open Asset Import Library (ASSIMP) ----------------------------------------------------------------------- - -Copyright (c) 2006-2010, ASSIMP Development Team -All rights reserved. - -Redistribution and use of this software in source and binary forms, -with or without modification, are permitted provided that the -following conditions are met: - -* Redistributions of source code must retain the above - copyright notice, this list of conditions and the - following disclaimer. - -* Redistributions in binary form must reproduce the above - copyright notice, this list of conditions and the - following disclaimer in the documentation and/or other - materials provided with the distribution. - -* Neither the name of the ASSIMP team, nor the names of its - contributors may be used to endorse or promote products - derived from this software without specific prior - written permission of the ASSIMP Development Team. - -THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS -"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT -LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR -A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT -OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, -SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT -LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, -DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY -THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT -(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE -OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. - ----------------------------------------------------------------------- -*/ - -/** @file aiQuaternion.h - * @brief Quaternion structure, including operators when compiling in C++ - */ -#ifndef AI_QUATERNION_H_INC -#define AI_QUATERNION_H_INC - -#include <math.h> -#include "aiTypes.h" - -#ifdef __cplusplus -extern "C" { -#endif - -// --------------------------------------------------------------------------- -/** Represents a quaternion in a 4D vector. */ -struct aiQuaternion -{ -#ifdef __cplusplus - aiQuaternion() : w(0.0f), x(0.0f), y(0.0f), z(0.0f) {} - aiQuaternion(float _w, float _x, float _y, float _z) : w(_w), x(_x), y(_y), z(_z) {} - - /** Construct from rotation matrix. Result is undefined if the matrix is not orthonormal. */ - aiQuaternion( const aiMatrix3x3& pRotMatrix); - - /** Construct from euler angles */ - aiQuaternion( float rotx, float roty, float rotz); - - /** Construct from an axis-angle pair */ - aiQuaternion( aiVector3D axis, float angle); - - /** Construct from a normalized quaternion stored in a vec3 */ - aiQuaternion( aiVector3D normalized); - - /** Returns a matrix representation of the quaternion */ - aiMatrix3x3 GetMatrix() const; - - - bool operator== (const aiQuaternion& o) const - {return x == o.x && y == o.y && z == o.z && w == o.w;} - - bool operator!= (const aiQuaternion& o) const - {return !(*this == o);} - - /** Normalize the quaternion */ - aiQuaternion& Normalize(); - - /** Compute quaternion conjugate */ - aiQuaternion& Conjugate (); - - /** Rotate a point by this quaternion */ - aiVector3D Rotate (const aiVector3D& in); - - /** Multiply two quaternions */ - aiQuaternion operator* (const aiQuaternion& two) const; - - /** Performs a spherical interpolation between two quaternions and writes the result into the third. - * @param pOut Target object to received the interpolated rotation. - * @param pStart Start rotation of the interpolation at factor == 0. - * @param pEnd End rotation, factor == 1. - * @param pFactor Interpolation factor between 0 and 1. Values outside of this range yield undefined results. - */ - static void Interpolate( aiQuaternion& pOut, const aiQuaternion& pStart, const aiQuaternion& pEnd, float pFactor); - -#endif // __cplusplus - - //! w,x,y,z components of the quaternion - float w, x, y, z; -} ; - - -#ifdef __cplusplus - -// --------------------------------------------------------------------------- -// Constructs a quaternion from a rotation matrix -inline aiQuaternion::aiQuaternion( const aiMatrix3x3 &pRotMatrix) -{ - float t = 1 + pRotMatrix.a1 + pRotMatrix.b2 + pRotMatrix.c3; - - // large enough - if ( t > 0.001f) - { - float s = sqrt( t) * 2.0f; - x = (pRotMatrix.c2 - pRotMatrix.b3) / s; - y = (pRotMatrix.a3 - pRotMatrix.c1) / s; - z = (pRotMatrix.b1 - pRotMatrix.a2) / s; - w = 0.25f * s; - } // else we have to check several cases - else if ( pRotMatrix.a1 > pRotMatrix.b2 && pRotMatrix.a1 > pRotMatrix.c3 ) - { - // Column 0: - float s = sqrt( 1.0f + pRotMatrix.a1 - pRotMatrix.b2 - pRotMatrix.c3) * 2.0f; - x = 0.25f * s; - y = (pRotMatrix.b1 + pRotMatrix.a2) / s; - z = (pRotMatrix.a3 + pRotMatrix.c1) / s; - w = (pRotMatrix.c2 - pRotMatrix.b3) / s; - } - else if ( pRotMatrix.b2 > pRotMatrix.c3) - { - // Column 1: - float s = sqrt( 1.0f + pRotMatrix.b2 - pRotMatrix.a1 - pRotMatrix.c3) * 2.0f; - x = (pRotMatrix.b1 + pRotMatrix.a2) / s; - y = 0.25f * s; - z = (pRotMatrix.c2 + pRotMatrix.b3) / s; - w = (pRotMatrix.a3 - pRotMatrix.c1) / s; - } else - { - // Column 2: - float s = sqrt( 1.0f + pRotMatrix.c3 - pRotMatrix.a1 - pRotMatrix.b2) * 2.0f; - x = (pRotMatrix.a3 + pRotMatrix.c1) / s; - y = (pRotMatrix.c2 + pRotMatrix.b3) / s; - z = 0.25f * s; - w = (pRotMatrix.b1 - pRotMatrix.a2) / s; - } -} - -// --------------------------------------------------------------------------- -// Construction from euler angles -inline aiQuaternion::aiQuaternion( float fPitch, float fYaw, float fRoll ) -{ - const float fSinPitch(sin(fPitch*0.5F)); - const float fCosPitch(cos(fPitch*0.5F)); - const float fSinYaw(sin(fYaw*0.5F)); - const float fCosYaw(cos(fYaw*0.5F)); - const float fSinRoll(sin(fRoll*0.5F)); - const float fCosRoll(cos(fRoll*0.5F)); - const float fCosPitchCosYaw(fCosPitch*fCosYaw); - const float fSinPitchSinYaw(fSinPitch*fSinYaw); - x = fSinRoll * fCosPitchCosYaw - fCosRoll * fSinPitchSinYaw; - y = fCosRoll * fSinPitch * fCosYaw + fSinRoll * fCosPitch * fSinYaw; - z = fCosRoll * fCosPitch * fSinYaw - fSinRoll * fSinPitch * fCosYaw; - w = fCosRoll * fCosPitchCosYaw + fSinRoll * fSinPitchSinYaw; -} - -// --------------------------------------------------------------------------- -// Returns a matrix representation of the quaternion -inline aiMatrix3x3 aiQuaternion::GetMatrix() const -{ - aiMatrix3x3 resMatrix; - resMatrix.a1 = 1.0f - 2.0f * (y * y + z * z); - resMatrix.a2 = 2.0f * (x * y - z * w); - resMatrix.a3 = 2.0f * (x * z + y * w); - resMatrix.b1 = 2.0f * (x * y + z * w); - resMatrix.b2 = 1.0f - 2.0f * (x * x + z * z); - resMatrix.b3 = 2.0f * (y * z - x * w); - resMatrix.c1 = 2.0f * (x * z - y * w); - resMatrix.c2 = 2.0f * (y * z + x * w); - resMatrix.c3 = 1.0f - 2.0f * (x * x + y * y); - - return resMatrix; -} - -// --------------------------------------------------------------------------- -// Construction from an axis-angle pair -inline aiQuaternion::aiQuaternion( aiVector3D axis, float angle) -{ - axis.Normalize(); - - const float sin_a = sin( angle / 2 ); - const float cos_a = cos( angle / 2 ); - x = axis.x * sin_a; - y = axis.y * sin_a; - z = axis.z * sin_a; - w = cos_a; -} -// --------------------------------------------------------------------------- -// Construction from am existing, normalized quaternion -inline aiQuaternion::aiQuaternion( aiVector3D normalized) -{ - x = normalized.x; - y = normalized.y; - z = normalized.z; - - const float t = 1.0f - (x*x) - (y*y) - (z*z); - - if (t < 0.0f) - w = 0.0f; - else w = sqrt (t); -} - -// --------------------------------------------------------------------------- -// Performs a spherical interpolation between two quaternions -// Implementation adopted from the gmtl project. All others I found on the net fail in some cases. -// Congrats, gmtl! -inline void aiQuaternion::Interpolate( aiQuaternion& pOut, const aiQuaternion& pStart, const aiQuaternion& pEnd, float pFactor) -{ - // calc cosine theta - float cosom = pStart.x * pEnd.x + pStart.y * pEnd.y + pStart.z * pEnd.z + pStart.w * pEnd.w; - - // adjust signs (if necessary) - aiQuaternion end = pEnd; - if ( cosom < 0.0f) - { - cosom = -cosom; - end.x = -end.x; // Reverse all signs - end.y = -end.y; - end.z = -end.z; - end.w = -end.w; - } - - // Calculate coefficients - float sclp, sclq; - if ( (1.0f - cosom) > 0.0001f) // 0.0001 -> some epsillon - { - // Standard case (slerp) - float omega, sinom; - omega = acos( cosom); // extract theta from dot product's cos theta - sinom = sin( omega); - sclp = sin( (1.0f - pFactor) * omega) / sinom; - sclq = sin( pFactor * omega) / sinom; - } else - { - // Very close, do linear interp (because it's faster) - sclp = 1.0f - pFactor; - sclq = pFactor; - } - - pOut.x = sclp * pStart.x + sclq * end.x; - pOut.y = sclp * pStart.y + sclq * end.y; - pOut.z = sclp * pStart.z + sclq * end.z; - pOut.w = sclp * pStart.w + sclq * end.w; -} - -// --------------------------------------------------------------------------- -inline aiQuaternion& aiQuaternion::Normalize() -{ - // compute the magnitude and divide through it - const float mag = x*x+y*y+z*z+w*w; - if (mag) - { - x /= mag; - y /= mag; - z /= mag; - w /= mag; - } - return *this; -} - -// --------------------------------------------------------------------------- -inline aiQuaternion aiQuaternion::operator* (const aiQuaternion& t) const -{ - return aiQuaternion(w*t.w - x*t.x - y*t.y - z*t.z, - w*t.x + x*t.w + y*t.z - z*t.y, - w*t.y + y*t.w + z*t.x - x*t.z, - w*t.z + z*t.w + x*t.y - y*t.x); -} - -// --------------------------------------------------------------------------- -inline aiQuaternion& aiQuaternion::Conjugate () -{ - x = -x; - y = -y; - z = -z; - return *this; -} - -// --------------------------------------------------------------------------- -inline aiVector3D aiQuaternion::Rotate (const aiVector3D& v) -{ - aiQuaternion q2(0.f,v.x,v.y,v.z), q = *this, qinv = q; - q.Conjugate(); - - q = q*q2*qinv; - return aiVector3D(q.x,q.y,q.z); - -} - -} // end extern "C" - -#endif // __cplusplus - -#endif // AI_QUATERNION_H_INC |