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view libs/vmath/quat.inl @ 34:634c7f7c1f0f

the text blur distance was too much man
author John Tsiombikas <nuclear@mutantstargoat.com>
date Fri, 09 Sep 2011 00:31:54 +0300
parents
children ff055bff6a15
line source
1 #include "vector.h"
2 #include "matrix.h"
4 #ifdef __cplusplus
5 extern "C" {
6 #endif /* __cplusplus */
8 static inline quat_t quat_mul(quat_t q1, quat_t q2)
9 {
10 quat_t res;
11 vec3_t v1 = quat_vec(q1);
12 vec3_t v2 = quat_vec(q2);
14 res.w = q1.w * q2.w - v3_dot(v1, v2);
15 /* resvec = v2 * q1 + v1 * q2 + cross(v1, v2) */
16 res.x = v2.x * q1.w + v1.x * q2.w + (v1.y * v2.z - v1.z * v2.y);
17 res.y = v2.y * q1.w + v1.y * q2.w + (v1.z * v2.x - v1.x * v2.z);
18 res.z = v2.z * q1.w + v1.z * q2.w + (v1.x * v2.y - v1.y * v2.x);
19 return res;
20 }
22 static inline quat_t quat_conjugate(quat_t q)
23 {
24 q.x = -q.x;
25 q.y = -q.y;
26 q.z = -q.z;
27 return q;
28 }
30 static inline quat_t quat_inverse(quat_t q)
31 {
32 scalar_t lensq = quat_length_sq(q);
33 q = quat_conjugate(q);
34 q.x /= lensq;
35 q.y /= lensq;
36 q.z /= lensq;
37 q.w /= lensq;
38 return q;
39 }
41 static inline void quat_to_mat3(mat3_t res, quat_t q)
42 {
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,
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,
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);
46 }
48 static inline void quat_to_mat4(mat4_t res, quat_t q)
49 {
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,
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,
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,
53 0, 0, 0, 1);
54 }
56 #ifdef __cplusplus
57 } /* extern "C" */
59 inline Quaternion lerp(const Quaternion &a, const Quaternion &b, scalar_t t)
60 {
61 return slerp(a, b, t);
62 }
63 #endif /* __cplusplus */