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/*
* Data Structures for Slerps/Spherical Linear Interpolations
* See also GemsIII/quatspin.c in
* http://www.acm.org/pubs/tog/GraphicsGems/gemsiii.zip
* Copyright (c) Criterion Software Limited
*/
/***************************************************************************
* *
* Module : rtslerp.h *
* *
* Purpose : Slerp functionality *
* *
**************************************************************************/
#ifndef RTSLERP_H
#define RTSLERP_H
/**
* \defgroup rtslerp RtSlerp
* \ingroup rttool
*
* Slerp/Spherical Linear Interpolations Toolkit for RenderWare.
*
* See also http://www.cis.ohio-state.edu/~parent/book/Full.html
*/
#include "rwcore.h"
#include "rtquat.h"
/****************************************************************************
Includes
*/
#include "rtslerp.rpe" /* automatically generated header file */
/****************************************************************************
Defines
*/
/* Masks for specifying which matrices to store by reference */
#define rtSLERPREFNONE 0x00
#define rtSLERPREFSTARTMAT 0x01
#define rtSLERPREFENDMAT 0x02
#define rtSLERPREFALL (~rtSLERPREFNONE)
/****************************************************************************
Global Types
*/
typedef struct RtSlerp RtSlerp;
/**
* \ingroup rtslerp
* \struct RtSlerp
* structure describing a Slerps/Spherical Linear Interpolations.
* See also GemsIII/quatspin.c in
* http://www.acm.org/pubs/tog/GraphicsGems/gemsiii.zip
*/
struct RtSlerp
{
RwInt32 matRefMask; /**< Which matrices do we NOT own */
RwMatrix *startMat; /**< The start matrix */
RwMatrix *endMat; /**< The end matrix */
RwV3d axis; /**< The axis of rotation for the slerp */
RwReal angle; /**< The angle (in degrees) between src & dest */
/* Though a slerp may be a bad idea and opting for a lerp is better */
RwBool useLerp; /**< Do we want to use lerps? */
};
/* static frame sequence animation - contains no state */
typedef struct RtQuatSlerpCache RtQuatSlerpCache;
/**
* \ingroup rtslerp
* \struct RtQuatSlerpCache
* structure describing a SlerpCache,
* which should be initialized with \ref RtQuatSetupSlerpCache.
*/
struct RtQuatSlerpCache
{
RtQuat raFrom; /**< Scaled initial quaternion */
RtQuat raTo; /**< Scaled final quaternion */
RwReal omega; /**< Angular displacement in radians */
RwBool nearlyZeroOm; /**< Flags near-zero angular
displacement*/
};
typedef struct RtQuatSlerpArgandCache RtQuatSlerpArgandCache;
/**
* \ingroup rtslerp
* \struct RtQuatSlerpArgandCache
* a structure describing
* an Argand SlerpCache which should be
* initialized with \ref RtQuatSetupSlerpArgandCache.
* See http://www-groups.dcs.st-and.ac.uk/~history/Mathematicians/Argand.html
* Jean Argand was an accountant and amateur mathematician.
* He is famed for his geometrical interpretation of the complex numbers
* where i is interpreted as a rotation through 90.
*/
struct RtQuatSlerpArgandCache
{
RtQuat logTo; /**< field Logarithm of final quaternion */
RtQuat logBase; /**< Logarithm of initial relative to final quaternion */
};
#define RtQuatSlerpMacro(qpResult, qpFrom, qpTo, rT, sCache) \
MACRO_START \
{ \
if ((rT) <= ((RwReal) 0)) \
{ \
/* t is before start */ \
*(qpResult) = *(qpFrom); \
} \
else if (((RwReal) 1) <= (rT)) \
{ \
\
/* t is after end */ \
*(qpResult) = *(qpTo); \
} \
else \
{ \
/* ... so t must be in the interior then */ \
/* Calc coefficients rSclFrom, rSclTo */ \
RwReal rSclFrom = ((RwReal) 1) - (rT); \
RwReal rSclTo = (rT); \
\
if (!((sCache)->nearlyZeroOm)) \
{ \
/* Standard case: slerp */ \
/* SLERPMESSAGE(("Neither nearly ZERO nor nearly PI")); */ \
\
rSclFrom *= (sCache)->omega; \
RwSinMinusPiToPiMacro(rSclFrom, rSclFrom); \
rSclTo *= (sCache)->omega; \
RwSinMinusPiToPiMacro(rSclTo, rSclTo); \
} \
\
/* Calc final values */ \
RwV3dScaleMacro(&(qpResult)->imag, \
&(sCache)->raFrom.imag, rSclFrom); \
RwV3dIncrementScaledMacro(&(qpResult)->imag, \
&(sCache)->raTo.imag, rSclTo); \
(qpResult)->real = \
((sCache)->raFrom.real * rSclFrom) + \
((sCache)->raTo.real * rSclTo); \
} \
} \
MACRO_STOP
#define RtQuatSlerpArgandMacro(qpResult, qpFrom, qpTo, rT, sArgandCache) \
MACRO_START \
{ \
if ((rT) <= ((RwReal) 0)) \
{ \
/* t is before start */ \
*(qpResult) = *(qpFrom); \
} \
else if (((RwReal) 1) <= (rT)) \
{ \
/* t is after end */ \
*(qpResult) = *(qpTo); \
} \
else \
{ \
RtQuat logBlend; \
\
/* ... so t must be in the interior then */ \
\
logBlend.imag.x = \
(sArgandCache)->logBase.imag.x + \
(rT) * (sArgandCache)->logTo.imag.x; \
logBlend.imag.y = \
(sArgandCache)->logBase.imag.y + \
(rT) * (sArgandCache)->logTo.imag.y; \
logBlend.imag.z = \
(sArgandCache)->logBase.imag.z + \
(rT) * (sArgandCache)->logTo.imag.z; \
logBlend.real = 0; \
\
RtQuatUnitExpMacro((qpResult), &logBlend); \
\
} \
} \
MACRO_STOP
#if (! ( defined(RWDEBUG) || defined(RWSUPPRESSINLINE) ))
#define RtQuatSlerp(qpResult, qpFrom, qpTo, rT, sCache) \
RtQuatSlerpMacro(qpResult, qpFrom, qpTo, rT, sCache)
#define RtQuatSlerpArgand(qpResult, qpFrom, qpTo, rT, sArgandCache) \
RtQuatSlerpArgandMacro(qpResult, qpFrom, qpTo, rT, sArgandCache)
#endif /* (! ( defined(RWDEBUG) || defined(RWSUPPRESSINLINE) )) */
/****************************************************************************
Function prototypes
*/
#ifdef __cplusplus
extern "C"
{
#endif /* __cplusplus */
/* Creating and destroying slerps */
extern RtSlerp *RtSlerpCreate(RwInt32 nMatRefMask);
extern void RtSlerpDestroy(RtSlerp * spSlerp);
/* setting up a slerp */
extern RtSlerp *RtSlerpInitialize(RtSlerp * spSlerp,
RwMatrix * mpMat1,
RwMatrix * mpMat2);
/* Get a matrix */
extern RwMatrix *RtSlerpGetMatrix(RtSlerp * spSlerp,
RwMatrix * mpResultMat,
RwReal nDelta);
/* Set if lerp or slerp */
extern RtSlerp *RtSlerpSetLerp(RtSlerp * spSlerp,
RwBool bUseLerp);
extern void
RtQuatSetupSlerpCache(RtQuat * qpFrom,
RtQuat * qpTo,
RtQuatSlerpCache * sCache);
extern void
RtQuatSetupSlerpArgandCache(RtQuat * qpFrom,
RtQuat * qpTo,
RtQuatSlerpArgandCache * sArgandCache);
#if ( defined(RWDEBUG) || defined(RWSUPPRESSINLINE) )
extern void
RtQuatSlerp(RtQuat * qpResult,
RtQuat * qpFrom,
RtQuat * qpTo,
RwReal rT,
RtQuatSlerpCache * sCache);
extern void
RtQuatSlerpArgand(RtQuat * qpResult,
RtQuat * qpFrom,
RtQuat * qpTo,
RwReal rT,
RtQuatSlerpArgandCache * sArgandCache);
#endif /* ( defined(RWDEBUG) || defined(RWSUPPRESSINLINE) ) */
#ifdef __cplusplus
}
#endif /* __cplusplus */
#endif /* RTSLERP_H */
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