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<a href="rs__quaternion_8rsh.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/*</span>
<a name="l00002"></a>00002 <span class="comment"> * Copyright (C) 2011 The Android Open Source Project</span>
<a name="l00003"></a>00003 <span class="comment"> *</span>
<a name="l00004"></a>00004 <span class="comment"> * Licensed under the Apache License, Version 2.0 (the &quot;License&quot;);</span>
<a name="l00005"></a>00005 <span class="comment"> * you may not use this file except in compliance with the License.</span>
<a name="l00006"></a>00006 <span class="comment"> * You may obtain a copy of the License at</span>
<a name="l00007"></a>00007 <span class="comment"> *</span>
<a name="l00008"></a>00008 <span class="comment"> * http://www.apache.org/licenses/LICENSE-2.0</span>
<a name="l00009"></a>00009 <span class="comment"> *</span>
<a name="l00010"></a>00010 <span class="comment"> * Unless required by applicable law or agreed to in writing, software</span>
<a name="l00011"></a>00011 <span class="comment"> * distributed under the License is distributed on an &quot;AS IS&quot; BASIS,</span>
<a name="l00012"></a>00012 <span class="comment"> * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</span>
<a name="l00013"></a>00013 <span class="comment"> * See the License for the specific language governing permissions and</span>
<a name="l00014"></a>00014 <span class="comment"> * limitations under the License.</span>
<a name="l00015"></a>00015 <span class="comment"> */</span>
<a name="l00016"></a>00016
<a name="l00023"></a>00023 <span class="preprocessor">#ifndef __RS_QUATERNION_RSH__</span>
<a name="l00024"></a>00024 <span class="preprocessor"></span><span class="preprocessor">#define __RS_QUATERNION_RSH__</span>
<a name="l00025"></a>00025 <span class="preprocessor"></span>
<a name="l00026"></a>00026
<a name="l00034"></a>00034 <span class="keyword">static</span> <span class="keywordtype">void</span> __attribute__((overloadable))
<a name="l00035"></a><a class="code" href="rs__quaternion_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">00035</a> <a class="code" href="rs__quaternion_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">rsQuaternionSet</a>(<a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q, <span class="keywordtype">float</span> w, <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z) {
<a name="l00036"></a>00036 q-&gt;w = w;
<a name="l00037"></a>00037 q-&gt;x = x;
<a name="l00038"></a>00038 q-&gt;y = y;
<a name="l00039"></a>00039 q-&gt;z = z;
<a name="l00040"></a>00040 }
<a name="l00041"></a>00041
<a name="l00047"></a>00047 <span class="keyword">static</span> <span class="keywordtype">void</span> __attribute__((overloadable))
<a name="l00048"></a><a class="code" href="rs__quaternion_8rsh.html#a249782133e54f13a8096d1fbe295714d">00048</a> <a class="code" href="rs__quaternion_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">rsQuaternionSet</a>(<a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q, const <a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *rhs) {
<a name="l00049"></a>00049 q-&gt;w = rhs-&gt;w;
<a name="l00050"></a>00050 q-&gt;x = rhs-&gt;x;
<a name="l00051"></a>00051 q-&gt;y = rhs-&gt;y;
<a name="l00052"></a>00052 q-&gt;z = rhs-&gt;z;
<a name="l00053"></a>00053 }
<a name="l00054"></a>00054
<a name="l00060"></a>00060 <span class="keyword">static</span> <span class="keywordtype">void</span> __attribute__((overloadable))
<a name="l00061"></a><a class="code" href="rs__quaternion_8rsh.html#a4f3d214912facf72f6a6d57e95aa3c3b">00061</a> <a class="code" href="rs__quaternion_8rsh.html#a4f3d214912facf72f6a6d57e95aa3c3b">rsQuaternionMultiply</a>(<a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q, <span class="keywordtype">float</span> s) {
<a name="l00062"></a>00062 q-&gt;w *= s;
<a name="l00063"></a>00063 q-&gt;x *= s;
<a name="l00064"></a>00064 q-&gt;y *= s;
<a name="l00065"></a>00065 q-&gt;z *= s;
<a name="l00066"></a>00066 }
<a name="l00067"></a>00067
<a name="l00073"></a>00073 <span class="keyword">static</span> <span class="keywordtype">void</span>
<a name="l00074"></a><a class="code" href="rs__quaternion_8rsh.html#a5e6e493b9917336b0d9118fdd4e91444">00074</a> <a class="code" href="rs__quaternion_8rsh.html#a5e6e493b9917336b0d9118fdd4e91444">rsQuaternionAdd</a>(<a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q, <span class="keyword">const</span> <a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *rhs) {
<a name="l00075"></a>00075 q-&gt;w *= rhs-&gt;w;
<a name="l00076"></a>00076 q-&gt;x *= rhs-&gt;x;
<a name="l00077"></a>00077 q-&gt;y *= rhs-&gt;y;
<a name="l00078"></a>00078 q-&gt;z *= rhs-&gt;z;
<a name="l00079"></a>00079 }
<a name="l00080"></a>00080
<a name="l00089"></a>00089 <span class="keyword">static</span> <span class="keywordtype">void</span>
<a name="l00090"></a><a class="code" href="rs__quaternion_8rsh.html#aa72a43cf3d7b5924de1ddfaa5766db09">00090</a> <a class="code" href="rs__quaternion_8rsh.html#aa72a43cf3d7b5924de1ddfaa5766db09">rsQuaternionLoadRotateUnit</a>(<a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q, <span class="keywordtype">float</span> rot, <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z) {
<a name="l00091"></a>00091 rot *= (float)(M_PI / 180.0f) * 0.5f;
<a name="l00092"></a>00092 <span class="keywordtype">float</span> c = <a class="code" href="rs__cl_8rsh.html#a8eec7aeb4b0c46b06cbcd1a3ac3e6f05">cos</a>(rot);
<a name="l00093"></a>00093 <span class="keywordtype">float</span> s = <a class="code" href="rs__cl_8rsh.html#a8c8cd526b44eb55aede77cf659f24306">sin</a>(rot);
<a name="l00094"></a>00094
<a name="l00095"></a>00095 q-&gt;w = c;
<a name="l00096"></a>00096 q-&gt;x = x * s;
<a name="l00097"></a>00097 q-&gt;y = y * s;
<a name="l00098"></a>00098 q-&gt;z = z * s;
<a name="l00099"></a>00099 }
<a name="l00100"></a>00100
<a name="l00110"></a>00110 <span class="keyword">static</span> <span class="keywordtype">void</span>
<a name="l00111"></a><a class="code" href="rs__quaternion_8rsh.html#adf4423c521e34f3cf29d5dd5b5a93de0">00111</a> <a class="code" href="rs__quaternion_8rsh.html#adf4423c521e34f3cf29d5dd5b5a93de0">rsQuaternionLoadRotate</a>(<a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q, <span class="keywordtype">float</span> rot, <span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z) {
<a name="l00112"></a>00112 <span class="keyword">const</span> <span class="keywordtype">float</span> len = x*x + y*y + z*z;
<a name="l00113"></a>00113 <span class="keywordflow">if</span> (len != 1) {
<a name="l00114"></a>00114 <span class="keyword">const</span> <span class="keywordtype">float</span> recipLen = 1.f / <a class="code" href="rs__cl_8rsh.html#a92da0faef80c4d8f66e954c8c169a729">sqrt</a>(len);
<a name="l00115"></a>00115 x *= recipLen;
<a name="l00116"></a>00116 y *= recipLen;
<a name="l00117"></a>00117 z *= recipLen;
<a name="l00118"></a>00118 }
<a name="l00119"></a>00119 <a class="code" href="rs__quaternion_8rsh.html#aa72a43cf3d7b5924de1ddfaa5766db09">rsQuaternionLoadRotateUnit</a>(q, rot, x, y, z);
<a name="l00120"></a>00120 }
<a name="l00121"></a>00121
<a name="l00126"></a>00126 <span class="keyword">static</span> <span class="keywordtype">void</span>
<a name="l00127"></a><a class="code" href="rs__quaternion_8rsh.html#acd670264e49743d35f38028b8e2a8800">00127</a> <a class="code" href="rs__quaternion_8rsh.html#acd670264e49743d35f38028b8e2a8800">rsQuaternionConjugate</a>(<a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q) {
<a name="l00128"></a>00128 q-&gt;x = -q-&gt;x;
<a name="l00129"></a>00129 q-&gt;y = -q-&gt;y;
<a name="l00130"></a>00130 q-&gt;z = -q-&gt;z;
<a name="l00131"></a>00131 }
<a name="l00132"></a>00132
<a name="l00139"></a>00139 <span class="keyword">static</span> <span class="keywordtype">float</span>
<a name="l00140"></a><a class="code" href="rs__quaternion_8rsh.html#aa810f8857439564e7b3be771f47b40ca">00140</a> <a class="code" href="rs__quaternion_8rsh.html#aa810f8857439564e7b3be771f47b40ca">rsQuaternionDot</a>(<span class="keyword">const</span> <a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q0, <span class="keyword">const</span> <a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q1) {
<a name="l00141"></a>00141 <span class="keywordflow">return</span> q0-&gt;w*q1-&gt;w + q0-&gt;x*q1-&gt;x + q0-&gt;y*q1-&gt;y + q0-&gt;z*q1-&gt;z;
<a name="l00142"></a>00142 }
<a name="l00143"></a>00143
<a name="l00148"></a>00148 <span class="keyword">static</span> <span class="keywordtype">void</span>
<a name="l00149"></a><a class="code" href="rs__quaternion_8rsh.html#abb31aad2416044ad5bbf44ee7c838e2a">00149</a> <a class="code" href="rs__quaternion_8rsh.html#abb31aad2416044ad5bbf44ee7c838e2a">rsQuaternionNormalize</a>(<a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q) {
<a name="l00150"></a>00150 <span class="keyword">const</span> <span class="keywordtype">float</span> len = <a class="code" href="rs__quaternion_8rsh.html#aa810f8857439564e7b3be771f47b40ca">rsQuaternionDot</a>(q, q);
<a name="l00151"></a>00151 <span class="keywordflow">if</span> (len != 1) {
<a name="l00152"></a>00152 <span class="keyword">const</span> <span class="keywordtype">float</span> recipLen = 1.f / <a class="code" href="rs__cl_8rsh.html#a92da0faef80c4d8f66e954c8c169a729">sqrt</a>(len);
<a name="l00153"></a>00153 <a class="code" href="rs__quaternion_8rsh.html#a4f3d214912facf72f6a6d57e95aa3c3b">rsQuaternionMultiply</a>(q, recipLen);
<a name="l00154"></a>00154 }
<a name="l00155"></a>00155 }
<a name="l00156"></a>00156
<a name="l00162"></a>00162 <span class="keyword">static</span> <span class="keywordtype">void</span> __attribute__((overloadable))
<a name="l00163"></a><a class="code" href="rs__quaternion_8rsh.html#a8bbbb286a2e2cb71b416c053f44844c3">00163</a> <a class="code" href="rs__quaternion_8rsh.html#a4f3d214912facf72f6a6d57e95aa3c3b">rsQuaternionMultiply</a>(<a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q, const <a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *rhs) {
<a name="l00164"></a>00164 <a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> qtmp;
<a name="l00165"></a>00165 <a class="code" href="rs__quaternion_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">rsQuaternionSet</a>(&amp;qtmp, q);
<a name="l00166"></a>00166
<a name="l00167"></a>00167 q-&gt;w = qtmp.w*rhs-&gt;w - qtmp.x*rhs-&gt;x - qtmp.y*rhs-&gt;y - qtmp.z*rhs-&gt;z;
<a name="l00168"></a>00168 q-&gt;x = qtmp.w*rhs-&gt;x + qtmp.x*rhs-&gt;w + qtmp.y*rhs-&gt;z - qtmp.z*rhs-&gt;y;
<a name="l00169"></a>00169 q-&gt;y = qtmp.w*rhs-&gt;y + qtmp.y*rhs-&gt;w + qtmp.z*rhs-&gt;x - qtmp.x*rhs-&gt;z;
<a name="l00170"></a>00170 q-&gt;z = qtmp.w*rhs-&gt;z + qtmp.z*rhs-&gt;w + qtmp.x*rhs-&gt;y - qtmp.y*rhs-&gt;x;
<a name="l00171"></a>00171 <a class="code" href="rs__quaternion_8rsh.html#abb31aad2416044ad5bbf44ee7c838e2a">rsQuaternionNormalize</a>(q);
<a name="l00172"></a>00172 }
<a name="l00173"></a>00173
<a name="l00181"></a>00181 <span class="keyword">static</span> <span class="keywordtype">void</span>
<a name="l00182"></a><a class="code" href="rs__quaternion_8rsh.html#a7da94a30e287cbb8148771a5cd768dbd">00182</a> <a class="code" href="rs__quaternion_8rsh.html#a7da94a30e287cbb8148771a5cd768dbd">rsQuaternionSlerp</a>(<a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q, <span class="keyword">const</span> <a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q0, <span class="keyword">const</span> <a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q1, <span class="keywordtype">float</span> t) {
<a name="l00183"></a>00183 <span class="keywordflow">if</span> (t &lt;= 0.0f) {
<a name="l00184"></a>00184 <a class="code" href="rs__quaternion_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">rsQuaternionSet</a>(q, q0);
<a name="l00185"></a>00185 <span class="keywordflow">return</span>;
<a name="l00186"></a>00186 }
<a name="l00187"></a>00187 <span class="keywordflow">if</span> (t &gt;= 1.0f) {
<a name="l00188"></a>00188 <a class="code" href="rs__quaternion_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">rsQuaternionSet</a>(q, q1);
<a name="l00189"></a>00189 <span class="keywordflow">return</span>;
<a name="l00190"></a>00190 }
<a name="l00191"></a>00191
<a name="l00192"></a>00192 <a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> tempq0, tempq1;
<a name="l00193"></a>00193 <a class="code" href="rs__quaternion_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">rsQuaternionSet</a>(&amp;tempq0, q0);
<a name="l00194"></a>00194 <a class="code" href="rs__quaternion_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">rsQuaternionSet</a>(&amp;tempq1, q1);
<a name="l00195"></a>00195
<a name="l00196"></a>00196 <span class="keywordtype">float</span> angle = <a class="code" href="rs__quaternion_8rsh.html#aa810f8857439564e7b3be771f47b40ca">rsQuaternionDot</a>(q0, q1);
<a name="l00197"></a>00197 <span class="keywordflow">if</span> (angle &lt; 0) {
<a name="l00198"></a>00198 <a class="code" href="rs__quaternion_8rsh.html#a4f3d214912facf72f6a6d57e95aa3c3b">rsQuaternionMultiply</a>(&amp;tempq0, -1.0f);
<a name="l00199"></a>00199 angle *= -1.0f;
<a name="l00200"></a>00200 }
<a name="l00201"></a>00201
<a name="l00202"></a>00202 <span class="keywordtype">float</span> scale, invScale;
<a name="l00203"></a>00203 <span class="keywordflow">if</span> (angle + 1.0f &gt; 0.05f) {
<a name="l00204"></a>00204 <span class="keywordflow">if</span> (1.0f - angle &gt;= 0.05f) {
<a name="l00205"></a>00205 <span class="keywordtype">float</span> theta = <a class="code" href="rs__cl_8rsh.html#a07648648c7f857cfd1479821d4389751">acos</a>(angle);
<a name="l00206"></a>00206 <span class="keywordtype">float</span> invSinTheta = 1.0f / <a class="code" href="rs__cl_8rsh.html#a8c8cd526b44eb55aede77cf659f24306">sin</a>(theta);
<a name="l00207"></a>00207 scale = <a class="code" href="rs__cl_8rsh.html#a8c8cd526b44eb55aede77cf659f24306">sin</a>(theta * (1.0f - t)) * invSinTheta;
<a name="l00208"></a>00208 invScale = <a class="code" href="rs__cl_8rsh.html#a8c8cd526b44eb55aede77cf659f24306">sin</a>(theta * t) * invSinTheta;
<a name="l00209"></a>00209 } <span class="keywordflow">else</span> {
<a name="l00210"></a>00210 scale = 1.0f - t;
<a name="l00211"></a>00211 invScale = t;
<a name="l00212"></a>00212 }
<a name="l00213"></a>00213 } <span class="keywordflow">else</span> {
<a name="l00214"></a>00214 <a class="code" href="rs__quaternion_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">rsQuaternionSet</a>(&amp;tempq1, tempq0.z, -tempq0.y, tempq0.x, -tempq0.w);
<a name="l00215"></a>00215 scale = <a class="code" href="rs__cl_8rsh.html#a8c8cd526b44eb55aede77cf659f24306">sin</a>(M_PI * (0.5f - t));
<a name="l00216"></a>00216 invScale = <a class="code" href="rs__cl_8rsh.html#a8c8cd526b44eb55aede77cf659f24306">sin</a>(M_PI * t);
<a name="l00217"></a>00217 }
<a name="l00218"></a>00218
<a name="l00219"></a>00219 <a class="code" href="rs__quaternion_8rsh.html#a5ff868dbc33e710a666a102fdcc6670a">rsQuaternionSet</a>(q, tempq0.w*scale + tempq1.w*invScale, tempq0.x*scale + tempq1.x*invScale,
<a name="l00220"></a>00220 tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale);
<a name="l00221"></a>00221 }
<a name="l00222"></a>00222
<a name="l00228"></a><a class="code" href="rs__quaternion_8rsh.html#a7726c524868c49892976fec53ea0693b">00228</a> <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="rs__quaternion_8rsh.html#a7726c524868c49892976fec53ea0693b">rsQuaternionGetMatrixUnit</a>(<a class="code" href="structrs__matrix4x4.html" title="4x4 float matrix">rs_matrix4x4</a> *m, <span class="keyword">const</span> <a class="code" href="rs__types_8rsh.html#a86f99f382dc35fc8ad98b524fe6d5447">rs_quaternion</a> *q) {
<a name="l00229"></a>00229 <span class="keywordtype">float</span> xx = q-&gt;x * q-&gt;x;
<a name="l00230"></a>00230 <span class="keywordtype">float</span> xy = q-&gt;x * q-&gt;y;
<a name="l00231"></a>00231 <span class="keywordtype">float</span> xz = q-&gt;x * q-&gt;z;
<a name="l00232"></a>00232 <span class="keywordtype">float</span> xw = q-&gt;x * q-&gt;w;
<a name="l00233"></a>00233 <span class="keywordtype">float</span> yy = q-&gt;y * q-&gt;y;
<a name="l00234"></a>00234 <span class="keywordtype">float</span> yz = q-&gt;y * q-&gt;z;
<a name="l00235"></a>00235 <span class="keywordtype">float</span> yw = q-&gt;y * q-&gt;w;
<a name="l00236"></a>00236 <span class="keywordtype">float</span> zz = q-&gt;z * q-&gt;z;
<a name="l00237"></a>00237 <span class="keywordtype">float</span> zw = q-&gt;z * q-&gt;w;
<a name="l00238"></a>00238
<a name="l00239"></a>00239 m-&gt;m[0] = 1.0f - 2.0f * ( yy + zz );
<a name="l00240"></a>00240 m-&gt;m[4] = 2.0f * ( xy - zw );
<a name="l00241"></a>00241 m-&gt;m[8] = 2.0f * ( xz + yw );
<a name="l00242"></a>00242 m-&gt;m[1] = 2.0f * ( xy + zw );
<a name="l00243"></a>00243 m-&gt;m[5] = 1.0f - 2.0f * ( xx + zz );
<a name="l00244"></a>00244 m-&gt;m[9] = 2.0f * ( yz - xw );
<a name="l00245"></a>00245 m-&gt;m[2] = 2.0f * ( xz - yw );
<a name="l00246"></a>00246 m-&gt;m[6] = 2.0f * ( yz + xw );
<a name="l00247"></a>00247 m-&gt;m[10] = 1.0f - 2.0f * ( xx + yy );
<a name="l00248"></a>00248 m-&gt;m[3] = m-&gt;m[7] = m-&gt;m[11] = m-&gt;m[12] = m-&gt;m[13] = m-&gt;m[14] = 0.0f;
<a name="l00249"></a>00249 m-&gt;m[15] = 1.0f;
<a name="l00250"></a>00250 }
<a name="l00251"></a>00251
<a name="l00252"></a>00252 <span class="preprocessor">#endif</span>
<a name="l00253"></a>00253 <span class="preprocessor"></span>
</pre></div></div>
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