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nuclear@29
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1 #include "vector.h"
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nuclear@29
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2 #include "matrix.h"
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3
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4 #ifdef __cplusplus
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5 extern "C" {
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6 #endif /* __cplusplus */
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7
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nuclear@29
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8 static inline quat_t quat_mul(quat_t q1, quat_t q2)
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9 {
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10 quat_t res;
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11 vec3_t v1 = quat_vec(q1);
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12 vec3_t v2 = quat_vec(q2);
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13
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14 res.w = q1.w * q2.w - v3_dot(v1, v2);
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15 /* resvec = v2 * q1 + v1 * q2 + cross(v1, v2) */
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16 res.x = v2.x * q1.w + v1.x * q2.w + (v1.y * v2.z - v1.z * v2.y);
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17 res.y = v2.y * q1.w + v1.y * q2.w + (v1.z * v2.x - v1.x * v2.z);
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18 res.z = v2.z * q1.w + v1.z * q2.w + (v1.x * v2.y - v1.y * v2.x);
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19 return res;
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20 }
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21
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22 static inline quat_t quat_conjugate(quat_t q)
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23 {
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24 q.x = -q.x;
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25 q.y = -q.y;
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26 q.z = -q.z;
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27 return q;
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28 }
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29
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30 static inline quat_t quat_inverse(quat_t q)
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31 {
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32 scalar_t lensq = quat_length_sq(q);
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33 q = quat_conjugate(q);
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34 q.x /= lensq;
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35 q.y /= lensq;
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36 q.z /= lensq;
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37 q.w /= lensq;
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38 return q;
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39 }
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40
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41 static inline void quat_to_mat3(mat3_t res, quat_t q)
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42 {
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43 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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44 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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45 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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46 }
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47
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48 static inline void quat_to_mat4(mat4_t res, quat_t q)
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49 {
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50 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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51 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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52 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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53 0, 0, 0, 1);
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54 }
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55
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56 #ifdef __cplusplus
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57 } /* extern "C" */
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58
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59 inline Quaternion lerp(const Quaternion &a, const Quaternion &b, scalar_t t)
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60 {
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61 return slerp(a, b, t);
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62 }
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63 #endif /* __cplusplus */
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