175 lines
4.5 KiB
C
175 lines
4.5 KiB
C
/*
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quaternion.h
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Quaternion functions
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Copyright (C) 2004 Bill Currie <bill@taniwha.org>
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Author: Bill Currie <bill@taniwha.org>
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Date: 2004/4/7
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This program is free software; you can redistribute it and/or
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modify it under the terms of the GNU General Public License
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as published by the Free Software Foundation; either version 2
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of the License, or (at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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See the GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program; if not, write to:
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Free Software Foundation, Inc.
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59 Temple Place - Suite 330
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Boston, MA 02111-1307, USA
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*/
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#ifndef __QF_math_quaternion_h
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#define __QF_math_quaternion_h
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/** \defgroup mathlib_quaternion Quaternion functions
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\ingroup utils
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*/
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///@{
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#include "QF/qtypes.h"
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extern const vec_t *const quat_origin;
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#define QDotProduct(a,b) ((a)[0] * (b)[0] + (a)[1] * (b)[1] \
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+ (a)[2] * (b)[2] + (a)[3] * (b)[3])
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#define QuatSubtract(a,b,c) \
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do { \
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(c)[0] = (a)[0] - (b)[0]; \
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(c)[1] = (a)[1] - (b)[1]; \
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(c)[2] = (a)[2] - (b)[2]; \
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(c)[3] = (a)[3] - (b)[3]; \
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} while (0)
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#define QuatNegate(a,b) \
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do { \
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(b)[0] = -(a)[0]; \
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(b)[1] = -(a)[1]; \
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(b)[2] = -(a)[2]; \
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(b)[3] = -(a)[3]; \
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} while (0)
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#define QuatConj(a,b) \
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do { \
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(b)[0] = -(a)[0]; \
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(b)[1] = -(a)[1]; \
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(b)[2] = -(a)[2]; \
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(b)[3] = (a)[3]; \
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} while (0)
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#define QuatAdd(a,b,c) \
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do { \
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(c)[0] = (a)[0] + (b)[0]; \
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(c)[1] = (a)[1] + (b)[1]; \
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(c)[2] = (a)[2] + (b)[2]; \
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(c)[3] = (a)[3] + (b)[3]; \
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} while (0)
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#define QuatCopy(a,b) \
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do { \
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(b)[0] = (a)[0]; \
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(b)[1] = (a)[1]; \
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(b)[2] = (a)[2]; \
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(b)[3] = (a)[3]; \
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} while (0)
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#define QuatMultAdd(a,s,b,c) \
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do { \
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(c)[0] = (a)[0] + (s) * (b)[0]; \
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(c)[1] = (a)[1] + (s) * (b)[1]; \
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(c)[2] = (a)[2] + (s) * (b)[2]; \
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(c)[3] = (a)[3] + (s) * (b)[3]; \
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} while (0)
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#define QuatMultSub(a,s,b,c) \
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do { \
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(c)[0] = (a)[0] - (s) * (b)[0]; \
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(c)[1] = (a)[1] - (s) * (b)[1]; \
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(c)[2] = (a)[2] - (s) * (b)[2]; \
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(c)[3] = (a)[3] - (s) * (b)[3]; \
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} while (0)
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#define QuatLength(a) sqrt(QDotProduct(a, a))
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#define QuatScale(a,b,c) \
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do { \
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(c)[0] = (a)[0] * (b); \
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(c)[1] = (a)[1] * (b); \
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(c)[2] = (a)[2] * (b); \
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(c)[3] = (a)[3] * (b); \
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} while (0)
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#define QuatCompMult(a,b,c) \
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do { \
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(c)[0] = (a)[0] * (b)[0]; \
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(c)[1] = (a)[1] * (b)[1]; \
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(c)[2] = (a)[2] * (b)[2]; \
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(c)[3] = (a)[3] * (b)[3]; \
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} while (0)
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#define QuatCompDiv(a,b,c) \
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do { \
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(c)[0] = (a)[0] / (b)[0]; \
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(c)[1] = (a)[1] / (b)[1]; \
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(c)[2] = (a)[2] / (b)[2]; \
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(c)[3] = (a)[3] / (b)[3]; \
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} while (0)
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#define QuatCompCompare(x, op, y) \
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(((x)[0] op (y)[0]) && ((x)[1] op (y)[1]) \
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&& ((x)[2] op (y)[2]) && ((x)[3] op (y)[3]))
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#define QuatCompare(x, y) QuatCompCompare (x, ==, y)
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#define QuatCompMin(a, b, c) \
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do { \
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(c)[0] = min ((a)[0], (b)[0]); \
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(c)[1] = min ((a)[1], (b)[1]); \
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(c)[2] = min ((a)[2], (b)[2]); \
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(c)[3] = min ((a)[3], (b)[3]); \
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} while (0)
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#define QuatCompMax(a, b, c) \
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do { \
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(c)[0] = max ((a)[0], (b)[0]); \
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(c)[1] = max ((a)[1], (b)[1]); \
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(c)[2] = max ((a)[2], (b)[2]); \
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(c)[3] = max ((a)[3], (b)[3]); \
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} while (0)
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#define QuatCompBound(a, b, c, d) \
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do { \
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(d)[0] = bound ((a)[0], (b)[0], (c)[0]); \
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(d)[1] = bound ((a)[1], (b)[1], (c)[1]); \
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(d)[2] = bound ((a)[2], (b)[2], (c)[2]); \
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(d)[3] = bound ((a)[3], (b)[3], (c)[3]); \
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} while (0)
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#define QuatIsZero(a) (!(a)[0] && !(a)[1] && !(a)[2] && !(a)[3])
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#define QuatZero(a) ((a)[3] = (a)[2] = (a)[1] = (a)[0] = 0);
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#define QuatSet(a,b,c,d,e) \
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do { \
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(e)[0] = a; \
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(e)[1] = b; \
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(e)[2] = c; \
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(e)[3] = d; \
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} while (0)
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#define QuatBlend(q1,q2,b,q) \
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do { \
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(q)[0] = (q1)[0] * (1 - (b)) + (q2)[0] * (b); \
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(q)[1] = (q1)[1] * (1 - (b)) + (q2)[1] * (b); \
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(q)[2] = (q1)[2] * (1 - (b)) + (q2)[2] * (b); \
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(q)[3] = (q1)[3] * (1 - (b)) + (q2)[3] * (b); \
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} while (0)
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//For printf etc
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#define QuatExpand(q) (q)[0], (q)[1], (q)[2], (q)[3]
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void QuatMult (const quat_t q1, const quat_t q2, quat_t out);
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void QuatMultVec (const quat_t q, const vec3_t v, vec3_t out);
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void QuatRotation (const vec3_t a, const vec3_t b, quat_t out);
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void QuatInverse (const quat_t in, quat_t out);
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void QuatExp (const quat_t a, quat_t b);
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void QuatToMatrix (const quat_t q, vec_t *m, int homogenous, int vertical);
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///@}
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#endif // __QF_math_quaternion_h
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