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1 /*
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2 libvmath - a vector math library
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3 Copyright (C) 2004-2011 John Tsiombikas <nuclear@member.fsf.org>
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4
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5 This program is free software: you can redistribute it and/or modify
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6 it under the terms of the GNU Lesser General Public License as published
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7 by the Free Software Foundation, either version 3 of the License, or
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8 (at your option) any later version.
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9
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10 This program is distributed in the hope that it will be useful,
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11 but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 GNU Lesser General Public License for more details.
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14
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15 You should have received a copy of the GNU Lesser General Public License
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16 along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 */
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18
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19 #include "vector.h"
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20 #include "matrix.h"
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21
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22 #ifdef __cplusplus
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23 extern "C" {
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24 #endif /* __cplusplus */
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25
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26 static inline quat_t quat_mul(quat_t q1, quat_t q2)
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27 {
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28 quat_t res;
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29 vec3_t v1 = quat_vec(q1);
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30 vec3_t v2 = quat_vec(q2);
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31
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32 res.w = q1.w * q2.w - v3_dot(v1, v2);
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33 /* resvec = v2 * q1 + v1 * q2 + cross(v1, v2) */
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34 res.x = v2.x * q1.w + v1.x * q2.w + (v1.y * v2.z - v1.z * v2.y);
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35 res.y = v2.y * q1.w + v1.y * q2.w + (v1.z * v2.x - v1.x * v2.z);
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36 res.z = v2.z * q1.w + v1.z * q2.w + (v1.x * v2.y - v1.y * v2.x);
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37 return res;
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38 }
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39
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40 static inline quat_t quat_conjugate(quat_t q)
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41 {
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42 q.x = -q.x;
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43 q.y = -q.y;
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44 q.z = -q.z;
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45 return q;
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46 }
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47
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48 static inline quat_t quat_inverse(quat_t q)
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49 {
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50 scalar_t lensq = quat_length_sq(q);
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51 q = quat_conjugate(q);
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52 q.x /= lensq;
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53 q.y /= lensq;
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54 q.z /= lensq;
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55 q.w /= lensq;
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56 return q;
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57 }
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58
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59 static inline void quat_to_mat3(mat3_t res, quat_t q)
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60 {
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61 m3_cons(res, 1.0 - 2.0 * q.y*q.y - 2.0 * q.z*q.z, 2.0 * q.x * q.y + 2.0 * q.w * q.z, 2.0 * q.z * q.x - 2.0 * q.w * q.y,
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62 2.0 * q.x * q.y - 2.0 * q.w * q.z, 1.0 - 2.0 * q.x*q.x - 2.0 * q.z*q.z, 2.0 * q.y * q.z + 2.0 * q.w * q.x,
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63 2.0 * q.z * q.x + 2.0 * q.w * q.y, 2.0 * q.y * q.z - 2.0 * q.w * q.x, 1.0 - 2.0 * q.x*q.x - 2.0 * q.y*q.y);
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64 }
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65
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66 static inline void quat_to_mat4(mat4_t res, quat_t q)
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67 {
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68 m4_cons(res, 1.0 - 2.0 * q.y*q.y - 2.0 * q.z*q.z, 2.0 * q.x * q.y + 2.0 * q.w * q.z, 2.0 * q.z * q.x - 2.0 * q.w * q.y, 0,
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69 2.0 * q.x * q.y - 2.0 * q.w * q.z, 1.0 - 2.0 * q.x*q.x - 2.0 * q.z*q.z, 2.0 * q.y * q.z + 2.0 * q.w * q.x, 0,
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70 2.0 * q.z * q.x + 2.0 * q.w * q.y, 2.0 * q.y * q.z - 2.0 * q.w * q.x, 1.0 - 2.0 * q.x*q.x - 2.0 * q.y*q.y, 0,
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71 0, 0, 0, 1);
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72 }
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73
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74 #ifdef __cplusplus
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75 } /* extern "C" */
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76
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77 inline Quaternion lerp(const Quaternion &a, const Quaternion &b, scalar_t t)
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78 {
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79 return slerp(a, b, t);
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80 }
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81 #endif /* __cplusplus */
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