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#include "common.h"
#include "Quaternion.h"
void
CQuaternion::Normalise(void)
{
float sq = MagnitudeSqr();
if (sq == 0.0f)
w = 1.0f;
else {
float invsqrt = RecipSqrt(sq);
x *= invsqrt;
y *= invsqrt;
z *= invsqrt;
w *= invsqrt;
}
}
void
CQuaternion::Slerp(const CQuaternion &q1, const CQuaternion &q2, float theta, float invSin, float t)
{
if (theta == 0.0f)
*this = q2;
else {
float w1, w2;
if (theta > PI / 2) {
theta = PI - theta;
w1 = Sin((1.0f - t) * theta) * invSin;
w2 = -Sin(t * theta) * invSin;
} else {
w1 = Sin((1.0f - t) * theta) * invSin;
w2 = Sin(t * theta) * invSin;
}
// TODO: VU0 code
*this = w1 * q1 + w2 * q2;
}
}
void
CQuaternion::Multiply(const CQuaternion &q1, const CQuaternion &q2)
{
x = (q2.z * q1.y) - (q1.z * q2.y) + (q1.x * q2.w) + (q2.x * q1.w);
y = (q2.x * q1.z) - (q1.x * q2.z) + (q1.y * q2.w) + (q2.y * q1.w);
z = (q2.y * q1.x) - (q1.y * q2.x) + (q1.z * q2.w) + (q2.z * q1.w);
w = (q2.w * q1.w) - (q2.x * q1.x) - (q2.y * q1.y) - (q2.z * q1.z);
}
void
CQuaternion::Get(RwV3d *axis, float *angle)
{
*angle = Acos(w);
float s = Sin(*angle);
axis->x = x * (1.0f / s);
axis->y = y * (1.0f / s);
axis->z = z * (1.0f / s);
}
void
CQuaternion::Set(RwV3d *axis, float angle)
{
float halfCos = Cos(angle * 0.5f);
float halfSin = Sin(angle * 0.5f);
x = axis->x * halfSin;
y = axis->y * halfSin;
z = axis->z * halfSin;
w = halfCos;
}
void
CQuaternion::Get(RwMatrix *matrix)
{
float x2 = x + x;
float y2 = y + y;
float z2 = z + z;
float x_2x = x * x2;
float x_2y = x * y2;
float x_2z = x * z2;
float y_2y = y * y2;
float y_2z = y * z2;
float z_2z = z * z2;
float w_2x = w * x2;
float w_2y = w * y2;
float w_2z = w * z2;
matrix->right.x = 1.0f - (y_2y + z_2z);
matrix->up.x = x_2y - w_2z;
matrix->at.x = x_2z + w_2y;
matrix->right.y = x_2y + w_2z;
matrix->up.y = 1.0f - (x_2x + z_2z);
matrix->at.y = y_2z - w_2x;
matrix->right.z = x_2z - w_2y;
matrix->up.z = y_2z + w_2x;
matrix->at.z = 1.0f - (x_2x + y_2y);
}
void
CQuaternion::Set(const RwMatrix &matrix)
{
float f, s, m;
f = matrix.up.y + matrix.right.x + matrix.at.z;
if (f >= 0.0f) {
s = Sqrt(f + 1.0f);
w = 0.5f * s;
m = 0.5f / s;
x = (matrix.up.z - matrix.at.y) * m;
y = (matrix.at.x - matrix.right.z) * m;
z = (matrix.right.y - matrix.up.x) * m;
return;
}
f = matrix.right.x - matrix.up.y - matrix.at.z;
if (f >= 0.0f) {
s = Sqrt(f + 1.0f);
x = 0.5f * s;
m = 0.5f / s;
y = (matrix.up.x + matrix.right.y) * m;
z = (matrix.at.x + matrix.right.z) * m;
w = (matrix.up.z - matrix.at.y) * m;
return;
}
f = matrix.up.y - matrix.right.x - matrix.at.z;
if (f >= 0.0f) {
s = Sqrt(f + 1.0f);
y = 0.5f * s;
m = 0.5f / s;
w = (matrix.at.x - matrix.right.z) * m;
x = (matrix.up.x - matrix.right.y) * m;
z = (matrix.at.y + matrix.up.z) * m;
return;
}
f = matrix.at.z - (matrix.up.y + matrix.right.x);
s = Sqrt(f + 1.0f);
z = 0.5f * s;
m = 0.5f / s;
w = (matrix.right.y - matrix.up.x) * m;
x = (matrix.at.x + matrix.right.z) * m;
y = (matrix.at.y + matrix.up.z) * m;
}
void
CQuaternion::Get(float *f1, float *f2, float *f3)
{
RwMatrix matrix;
Get(&matrix);
*f3 = Atan2(matrix.right.y, matrix.up.y);
if (*f3 < 0.0f)
*f3 += TWOPI;
float s = Sin(*f3);
float c = Cos(*f3);
*f1 = Atan2(-matrix.at.y, s * matrix.right.y + c * matrix.up.y);
if (*f1 < 0.0f)
*f1 += TWOPI;
*f2 = Atan2(-(matrix.right.z * c - matrix.up.z * s), matrix.right.x * c - matrix.up.x * s);
if (*f2 < 0.0f)
*f2 += TWOPI;
}
void
CQuaternion::Set(float f1, float f2, float f3)
{
float c1 = Cos(f1 * 0.5f);
float c2 = Cos(f2 * 0.5f);
float c3 = Cos(f3 * 0.5f);
float s1 = Sin(f1 * 0.5f);
float s2 = Sin(f2 * 0.5f);
float s3 = Sin(f3 * 0.5f);
x = ((c2 * c1) * s3) - ((s2 * s1) * c3);
y = ((s1 * c2) * c3) + ((s2 * c1) * s3);
z = ((s2 * c1) * c3) - ((s1 * c2) * s3);
w = ((c2 * c1) * c3) + ((s2 * s1) * s3);
}
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