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99 lines
2.7 KiB
99 lines
2.7 KiB
4 months ago
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/*
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* Copyright (C) 2011 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#ifndef ANDROID_QUAT_H
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#define ANDROID_QUAT_H
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#include <math.h>
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#include "vec.h"
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#include "mat.h"
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// -----------------------------------------------------------------------
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namespace android {
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// -----------------------------------------------------------------------
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template <typename TYPE>
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mat<TYPE, 3, 3> quatToMatrix(const vec<TYPE, 4>& q) {
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mat<TYPE, 3, 3> R;
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TYPE q0(q.w);
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TYPE q1(q.x);
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TYPE q2(q.y);
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TYPE q3(q.z);
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TYPE sq_q1 = 2 * q1 * q1;
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TYPE sq_q2 = 2 * q2 * q2;
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TYPE sq_q3 = 2 * q3 * q3;
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TYPE q1_q2 = 2 * q1 * q2;
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TYPE q3_q0 = 2 * q3 * q0;
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TYPE q1_q3 = 2 * q1 * q3;
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TYPE q2_q0 = 2 * q2 * q0;
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TYPE q2_q3 = 2 * q2 * q3;
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TYPE q1_q0 = 2 * q1 * q0;
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R[0][0] = 1 - sq_q2 - sq_q3;
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R[0][1] = q1_q2 - q3_q0;
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R[0][2] = q1_q3 + q2_q0;
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R[1][0] = q1_q2 + q3_q0;
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R[1][1] = 1 - sq_q1 - sq_q3;
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R[1][2] = q2_q3 - q1_q0;
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R[2][0] = q1_q3 - q2_q0;
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R[2][1] = q2_q3 + q1_q0;
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R[2][2] = 1 - sq_q1 - sq_q2;
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return R;
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}
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template <typename TYPE>
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vec<TYPE, 4> matrixToQuat(const mat<TYPE, 3, 3>& R) {
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// matrix to quaternion
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struct {
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inline TYPE operator()(TYPE v) {
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return v < 0 ? 0 : v;
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}
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} clamp;
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vec<TYPE, 4> q;
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const float Hx = R[0].x;
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const float My = R[1].y;
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const float Az = R[2].z;
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q.x = sqrtf( clamp( Hx - My - Az + 1) * 0.25f );
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q.y = sqrtf( clamp(-Hx + My - Az + 1) * 0.25f );
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q.z = sqrtf( clamp(-Hx - My + Az + 1) * 0.25f );
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q.w = sqrtf( clamp( Hx + My + Az + 1) * 0.25f );
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q.x = copysignf(q.x, R[2].y - R[1].z);
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q.y = copysignf(q.y, R[0].z - R[2].x);
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q.z = copysignf(q.z, R[1].x - R[0].y);
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// guaranteed to be unit-quaternion
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return q;
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}
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template <typename TYPE>
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vec<TYPE, 4> normalize_quat(const vec<TYPE, 4>& q) {
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vec<TYPE, 4> r(q);
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if (r.w < 0) {
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r = -r;
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}
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return normalize(r);
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}
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// -----------------------------------------------------------------------
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typedef vec4_t quat_t;
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// -----------------------------------------------------------------------
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}; // namespace android
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#endif /* ANDROID_QUAT_H */
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