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375 lines
11 KiB
375 lines
11 KiB
/*
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* Copyright (C) 2016 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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// Don't edit this file! It is auto-generated by frameworks/rs/api/generate.sh.
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/*
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* rs_quaternion.rsh: Quaternion Functions
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*
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* The following functions manipulate quaternions.
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*/
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#ifndef RENDERSCRIPT_RS_QUATERNION_RSH
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#define RENDERSCRIPT_RS_QUATERNION_RSH
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/*
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* rsQuaternionAdd: Add two quaternions
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*
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* Adds two quaternions, i.e. *q += *rhs;
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*
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* Parameters:
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* q: Destination quaternion to add to.
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* rhs: Quaternion to add.
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*/
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionAdd(rs_quaternion* q, const rs_quaternion* rhs) {
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q->w += rhs->w;
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q->x += rhs->x;
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q->y += rhs->y;
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q->z += rhs->z;
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}
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#endif
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/*
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* rsQuaternionConjugate: Conjugate a quaternion
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*
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* Conjugates the quaternion.
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*
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* Parameters:
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* q: Quaternion to modify.
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*/
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionConjugate(rs_quaternion* q) {
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q->x = -q->x;
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q->y = -q->y;
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q->z = -q->z;
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}
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#endif
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/*
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* rsQuaternionDot: Dot product of two quaternions
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*
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* Returns the dot product of two quaternions.
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*
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* Parameters:
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* q0: First quaternion.
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* q1: Second quaternion.
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*/
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline float __attribute__((overloadable))
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rsQuaternionDot(const rs_quaternion* q0, const rs_quaternion* q1) {
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return q0->w*q1->w + q0->x*q1->x + q0->y*q1->y + q0->z*q1->z;
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}
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#endif
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/*
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* rsQuaternionGetMatrixUnit: Get a rotation matrix from a quaternion
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*
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* Computes a rotation matrix from the normalized quaternion.
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*
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* Parameters:
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* m: Resulting matrix.
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* q: Normalized quaternion.
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*/
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionGetMatrixUnit(rs_matrix4x4* m, const rs_quaternion* q) {
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float xx = q->x * q->x;
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float xy = q->x * q->y;
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float xz = q->x * q->z;
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float xw = q->x * q->w;
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float yy = q->y * q->y;
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float yz = q->y * q->z;
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float yw = q->y * q->w;
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float zz = q->z * q->z;
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float zw = q->z * q->w;
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m->m[0] = 1.0f - 2.0f * ( yy + zz );
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m->m[4] = 2.0f * ( xy - zw );
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m->m[8] = 2.0f * ( xz + yw );
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m->m[1] = 2.0f * ( xy + zw );
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m->m[5] = 1.0f - 2.0f * ( xx + zz );
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m->m[9] = 2.0f * ( yz - xw );
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m->m[2] = 2.0f * ( xz - yw );
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m->m[6] = 2.0f * ( yz + xw );
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m->m[10] = 1.0f - 2.0f * ( xx + yy );
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m->m[3] = m->m[7] = m->m[11] = m->m[12] = m->m[13] = m->m[14] = 0.0f;
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m->m[15] = 1.0f;
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}
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#endif
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/*
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* rsQuaternionLoadRotateUnit: Quaternion that represents a rotation about an arbitrary unit vector
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*
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* Loads a quaternion that represents a rotation about an arbitrary unit vector.
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*
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* Parameters:
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* q: Destination quaternion.
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* rot: Angle to rotate by, in radians.
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* x: X component of the vector.
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* y: Y component of the vector.
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* z: Z component of the vector.
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*/
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionLoadRotateUnit(rs_quaternion* q, float rot, float x, float y, float z) {
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rot *= (float)(M_PI / 180.0f) * 0.5f;
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float c = cos(rot);
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float s = sin(rot);
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q->w = c;
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q->x = x * s;
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q->y = y * s;
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q->z = z * s;
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}
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#endif
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/*
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* rsQuaternionSet: Create a quaternion
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*
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* Creates a quaternion from its four components or from another quaternion.
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*
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* Parameters:
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* q: Destination quaternion.
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* w: W component.
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* x: X component.
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* y: Y component.
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* z: Z component.
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* rhs: Source quaternion.
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*/
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionSet(rs_quaternion* q, float w, float x, float y, float z) {
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q->w = w;
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q->x = x;
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q->y = y;
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q->z = z;
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}
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#endif
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionSet(rs_quaternion* q, const rs_quaternion* rhs) {
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q->w = rhs->w;
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q->x = rhs->x;
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q->y = rhs->y;
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q->z = rhs->z;
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}
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#endif
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/*
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* rsQuaternionLoadRotate: Create a rotation quaternion
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*
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* Loads a quaternion that represents a rotation about an arbitrary vector
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* (doesn't have to be unit)
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*
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* Parameters:
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* q: Destination quaternion.
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* rot: Angle to rotate by.
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* x: X component of a vector.
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* y: Y component of a vector.
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* z: Z component of a vector.
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*/
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionLoadRotate(rs_quaternion* q, float rot, float x, float y, float z) {
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const float len = x*x + y*y + z*z;
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if (len != 1) {
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const float recipLen = 1.f / sqrt(len);
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x *= recipLen;
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y *= recipLen;
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z *= recipLen;
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}
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rsQuaternionLoadRotateUnit(q, rot, x, y, z);
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}
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#endif
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/*
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* rsQuaternionNormalize: Normalize a quaternion
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*
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* Normalizes the quaternion.
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*
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* Parameters:
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* q: Quaternion to normalize.
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*/
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionNormalize(rs_quaternion* q) {
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const float len = rsQuaternionDot(q, q);
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if (len != 1) {
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const float recipLen = 1.f / sqrt(len);
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q->w *= recipLen;
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q->x *= recipLen;
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q->y *= recipLen;
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q->z *= recipLen;
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}
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}
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#endif
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/*
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* rsQuaternionMultiply: Multiply a quaternion by a scalar or another quaternion
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*
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* Multiplies a quaternion by a scalar or by another quaternion, e.g
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* *q = *q * scalar; or *q = *q * *rhs;.
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*
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* Parameters:
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* q: Destination quaternion.
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* scalar: Scalar to multiply the quaternion by.
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* rhs: Quaternion to multiply the destination quaternion by.
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*/
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionMultiply(rs_quaternion* q, float scalar) {
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q->w *= scalar;
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q->x *= scalar;
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q->y *= scalar;
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q->z *= scalar;
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}
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#endif
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionMultiply(rs_quaternion* q, const rs_quaternion* rhs) {
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rs_quaternion qtmp;
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rsQuaternionSet(&qtmp, q);
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q->w = qtmp.w*rhs->w - qtmp.x*rhs->x - qtmp.y*rhs->y - qtmp.z*rhs->z;
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q->x = qtmp.w*rhs->x + qtmp.x*rhs->w + qtmp.y*rhs->z - qtmp.z*rhs->y;
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q->y = qtmp.w*rhs->y + qtmp.y*rhs->w + qtmp.z*rhs->x - qtmp.x*rhs->z;
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q->z = qtmp.w*rhs->z + qtmp.z*rhs->w + qtmp.x*rhs->y - qtmp.y*rhs->x;
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rsQuaternionNormalize(q);
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}
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#endif
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/*
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* rsQuaternionSlerp: Spherical linear interpolation between two quaternions
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*
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* Performs spherical linear interpolation between two quaternions.
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*
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* Parameters:
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* q: Result quaternion from the interpolation.
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* q0: First input quaternion.
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* q1: Second input quaternion.
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* t: How much to interpolate by.
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*/
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#if !defined(RS_VERSION) || (RS_VERSION <= 23)
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static inline void __attribute__((overloadable))
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rsQuaternionSlerp(rs_quaternion* q, const rs_quaternion* q0, const rs_quaternion* q1, float t) {
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if (t <= 0.0f) {
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rsQuaternionSet(q, q0);
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return;
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}
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if (t >= 1.0f) {
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rsQuaternionSet(q, q1);
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return;
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}
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rs_quaternion tempq0, tempq1;
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rsQuaternionSet(&tempq0, q0);
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rsQuaternionSet(&tempq1, q1);
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float angle = rsQuaternionDot(q0, q1);
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if (angle < 0) {
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rsQuaternionMultiply(&tempq0, -1.0f);
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angle *= -1.0f;
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}
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float scale, invScale;
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if (angle + 1.0f > 0.05f) {
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if (1.0f - angle >= 0.05f) {
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float theta = acos(angle);
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float invSinTheta = 1.0f / sin(theta);
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scale = sin(theta * (1.0f - t)) * invSinTheta;
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invScale = sin(theta * t) * invSinTheta;
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} else {
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scale = 1.0f - t;
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invScale = t;
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}
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} else {
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rsQuaternionSet(&tempq1, tempq0.z, -tempq0.y, tempq0.x, -tempq0.w);
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scale = sin(M_PI * (0.5f - t));
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invScale = sin(M_PI * t);
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}
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rsQuaternionSet(q, tempq0.w*scale + tempq1.w*invScale, tempq0.x*scale + tempq1.x*invScale,
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tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale);
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}
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionAdd(rs_quaternion* q, const rs_quaternion* rhs);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionConjugate(rs_quaternion* q);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern float __attribute__((overloadable))
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rsQuaternionDot(const rs_quaternion* q0, const rs_quaternion* q1);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionGetMatrixUnit(rs_matrix4x4* m, const rs_quaternion* q);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionLoadRotateUnit(rs_quaternion* q, float rot, float x, float y, float z);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionSet(rs_quaternion* q, float w, float x, float y, float z);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionSet(rs_quaternion* q, const rs_quaternion* rhs);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionLoadRotate(rs_quaternion* q, float rot, float x, float y, float z);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionNormalize(rs_quaternion* q);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionMultiply(rs_quaternion* q, float scalar);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionMultiply(rs_quaternion* q, const rs_quaternion* rhs);
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#endif
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#if (defined(RS_VERSION) && (RS_VERSION >= 24))
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extern void __attribute__((overloadable))
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rsQuaternionSlerp(rs_quaternion* q, const rs_quaternion* q0, const rs_quaternion* q1, float t);
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#endif
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#endif // RENDERSCRIPT_RS_QUATERNION_RSH
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