101 lines
3.1 KiB
C++
101 lines
3.1 KiB
C++
#include "MT_Optimize.h"
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GEN_INLINE MT_Quaternion& MT_Quaternion::operator*=(const MT_Quaternion& q) {
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setValue(m_co[3] * q[0] + m_co[0] * q[3] + m_co[1] * q[2] - m_co[2] * q[1],
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m_co[3] * q[1] + m_co[1] * q[3] + m_co[2] * q[0] - m_co[0] * q[2],
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m_co[3] * q[2] + m_co[2] * q[3] + m_co[0] * q[1] - m_co[1] * q[0],
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m_co[3] * q[3] - m_co[0] * q[0] - m_co[1] * q[1] - m_co[2] * q[2]);
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return *this;
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}
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GEN_INLINE void MT_Quaternion::conjugate() {
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m_co[0] = -m_co[0]; m_co[1] = -m_co[1]; m_co[2] = -m_co[2];
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}
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GEN_INLINE MT_Quaternion MT_Quaternion::conjugate() const {
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return MT_Quaternion(-m_co[0], -m_co[1], -m_co[2], m_co[3]);
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}
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GEN_INLINE void MT_Quaternion::invert() {
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conjugate();
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*this /= length2();
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}
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GEN_INLINE MT_Quaternion MT_Quaternion::inverse() const {
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return conjugate() / length2();
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}
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// From: "Uniform Random Rotations", Ken Shoemake, Graphics Gems III,
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// pg. 124-132
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GEN_INLINE MT_Quaternion MT_Quaternion::random() {
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MT_Scalar x0 = MT_random();
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MT_Scalar r1 = sqrt(MT_Scalar(1.0) - x0), r2 = sqrt(x0);
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MT_Scalar t1 = MT_2_PI * MT_random(), t2 = MT_2_PI * MT_random();
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MT_Scalar c1 = cos(t1), s1 = sin(t1);
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MT_Scalar c2 = cos(t2), s2 = sin(t2);
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return MT_Quaternion(s1 * r1, c1 * r1, s2 * r2, c2 * r2);
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}
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GEN_INLINE MT_Quaternion operator*(const MT_Quaternion& q1,
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const MT_Quaternion& q2) {
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return MT_Quaternion(q1[3] * q2[0] + q1[0] * q2[3] + q1[1] * q2[2] - q1[2] * q2[1],
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q1[3] * q2[1] + q1[1] * q2[3] + q1[2] * q2[0] - q1[0] * q2[2],
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q1[3] * q2[2] + q1[2] * q2[3] + q1[0] * q2[1] - q1[1] * q2[0],
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q1[3] * q2[3] - q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2]);
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}
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GEN_INLINE MT_Quaternion operator*(const MT_Quaternion& q, const MT_Vector3& w)
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{
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return MT_Quaternion( q[3] * w[0] + q[1] * w[2] - q[2] * w[1],
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q[3] * w[1] + q[2] * w[0] - q[0] * w[2],
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q[3] * w[2] + q[0] * w[1] - q[1] * w[0],
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-q[0] * w[0] - q[1] * w[1] - q[2] * w[2]);
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}
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GEN_INLINE MT_Quaternion operator*(const MT_Vector3& w, const MT_Quaternion& q)
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{
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return MT_Quaternion( w[0] * q[3] + w[1] * q[2] - w[2] * q[1],
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w[1] * q[3] + w[2] * q[0] - w[0] * q[2],
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w[2] * q[3] + w[0] * q[1] - w[1] * q[0],
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-w[0] * q[0] - w[1] * q[1] - w[2] * q[2]);
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}
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GEN_INLINE MT_Scalar MT_Quaternion::angle(const MT_Quaternion& q) const
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{
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MT_Scalar s = sqrt(length2() * q.length2());
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assert(s != MT_Scalar(0.0));
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s = dot(q) / s;
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s = MT_clamp(s, -1.0, 1.0);
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return acos(s);
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}
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GEN_INLINE MT_Quaternion MT_Quaternion::slerp(const MT_Quaternion& q, const MT_Scalar& t) const
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{
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MT_Scalar d, s0, s1;
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MT_Scalar s = dot(q);
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bool neg = (s < 0.0);
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if (neg)
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s = -s;
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if ((1.0 - s) > 0.0001)
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{
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MT_Scalar theta = acos(s);
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d = MT_Scalar(1.0) / sin(theta);
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s0 = sin((MT_Scalar(1.0) - t) * theta);
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s1 = sin(t * theta);
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}
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else
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{
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d = MT_Scalar(1.0);
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s0 = MT_Scalar(1.0) - t;
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s1 = t;
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}
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if (neg)
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s1 = -s1;
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return d*(*this * s0 + q * s1);
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}
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