+++ /dev/null
-/*
-Copyright (C) 2003, 2010 - Wolfire Games
-Copyright (C) 2010-2016 - Lugaru contributors (see AUTHORS file)
-
-This file is part of Lugaru.
-
-Lugaru is free software; you can redistribute it and/or modify
-it under the terms of the GNU General Public License as published by
-the Free Software Foundation; either version 2 of the License, or
-(at your option) any later version.
-
-Lugaru is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with Lugaru. If not, see <http://www.gnu.org/licenses/>.
-*/
-
-
-#ifndef _QUATERNIONS_H_
-#define _QUATERNIONS_H_
-
-#include "math.h"
-#include "PhysicsMath.h"
-#include "Graphic/gamegl.h"
-
-/**> Quaternion Structures <**/
-#define PI 3.14159265355555897932384626
-#define RADIANS 0
-#define DEGREES 1
-#define deg2rad .0174532925
-
-//using namespace std;
-typedef float Matrix_t [4][4];
-struct euler {
- float x, y, z;
-};
-struct angle_axis {
- float x, y, z, angle;
-};
-struct quaternion {
- float x, y, z, w;
-};
-
-class XYZ
-{
-public:
- float x;
- float y;
- float z;
- XYZ() : x(0.0f), y(0.0f), z(0.0f) {}
- inline XYZ operator+(XYZ add);
- inline XYZ operator-(XYZ add);
- inline XYZ operator*(float add);
- inline XYZ operator*(XYZ add);
- inline XYZ operator/(float add);
- inline void operator+=(XYZ add);
- inline void operator-=(XYZ add);
- inline void operator*=(float add);
- inline void operator*=(XYZ add);
- inline void operator/=(float add);
- inline void operator=(float add);
- inline void vec(Vector add);
- inline bool operator==(XYZ add);
-};
-
-/*********************> Quaternion Function definition <********/
-quaternion To_Quat(int Degree_Flag, euler Euler);
-quaternion To_Quat(angle_axis Ang_Ax);
-quaternion To_Quat(Matrix_t m);
-angle_axis Quat_2_AA(quaternion Quat);
-void Quat_2_Matrix(quaternion Quat, Matrix_t m);
-quaternion Normalize(quaternion Quat);
-quaternion Quat_Mult(quaternion q1, quaternion q2);
-quaternion QNormalize(quaternion Quat);
-XYZ Quat2Vector(quaternion Quat);
-
-inline void CrossProduct(XYZ *P, XYZ *Q, XYZ *V);
-inline void CrossProduct(XYZ P, XYZ Q, XYZ *V);
-inline void Normalise(XYZ *vectory);
-inline float normaldotproduct(XYZ point1, XYZ point2);
-inline float fast_sqrt (register float arg);
-bool PointInTriangle(XYZ *p, XYZ normal, XYZ *p1, XYZ *p2, XYZ *p3);
-bool LineFacet(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ *p);
-float LineFacetd(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ *p);
-float LineFacetd(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ n, XYZ *p);
-float LineFacetd(XYZ *p1, XYZ *p2, XYZ *pa, XYZ *pb, XYZ *pc, XYZ *n, XYZ *p);
-float LineFacetd(XYZ *p1, XYZ *p2, XYZ *pa, XYZ *pb, XYZ *pc, XYZ *p);
-bool PointInTriangle(Vector *p, Vector normal, float p11, float p12, float p13, float p21, float p22, float p23, float p31, float p32, float p33);
-bool LineFacet(Vector p1, Vector p2, Vector pa, Vector pb, Vector pc, Vector *p);
-inline void ReflectVector(XYZ *vel, const XYZ *n);
-inline void ReflectVector(XYZ *vel, const XYZ &n);
-inline XYZ DoRotation(XYZ thePoint, float xang, float yang, float zang);
-inline XYZ DoRotationRadian(XYZ thePoint, float xang, float yang, float zang);
-inline float findDistance(XYZ *point1, XYZ *point2);
-inline float findLength(XYZ *point1);
-inline float findLengthfast(XYZ *point1);
-inline float distsq(XYZ *point1, XYZ *point2);
-inline float distsq(XYZ point1, XYZ point2);
-inline float distsqflat(XYZ *point1, XYZ *point2);
-inline float dotproduct(const XYZ *point1, const XYZ *point2);
-bool sphere_line_intersection (
- float x1, float y1 , float z1,
- float x2, float y2 , float z2,
- float x3, float y3 , float z3, float r );
-bool sphere_line_intersection (
- XYZ *p1, XYZ *p2, XYZ *p3, float *r );
-inline bool DistancePointLine( XYZ *Point, XYZ *LineStart, XYZ *LineEnd, float *Distance, XYZ *Intersection );
-
-
-inline void Normalise(XYZ *vectory)
-{
- static float d;
- d = fast_sqrt(vectory->x * vectory->x + vectory->y * vectory->y + vectory->z * vectory->z);
- if (d == 0) {
- return;
- }
- vectory->x /= d;
- vectory->y /= d;
- vectory->z /= d;
-}
-
-inline XYZ XYZ::operator+(XYZ add)
-{
- static XYZ ne;
- ne = add;
- ne.x += x;
- ne.y += y;
- ne.z += z;
- return ne;
-}
-
-inline XYZ XYZ::operator-(XYZ add)
-{
- static XYZ ne;
- ne = add;
- ne.x = x - ne.x;
- ne.y = y - ne.y;
- ne.z = z - ne.z;
- return ne;
-}
-
-inline XYZ XYZ::operator*(float add)
-{
- static XYZ ne;
- ne.x = x * add;
- ne.y = y * add;
- ne.z = z * add;
- return ne;
-}
-
-inline XYZ XYZ::operator*(XYZ add)
-{
- static XYZ ne;
- ne.x = x * add.x;
- ne.y = y * add.y;
- ne.z = z * add.z;
- return ne;
-}
-
-inline XYZ XYZ::operator/(float add)
-{
- static XYZ ne;
- ne.x = x / add;
- ne.y = y / add;
- ne.z = z / add;
- return ne;
-}
-
-inline void XYZ::operator+=(XYZ add)
-{
- x += add.x;
- y += add.y;
- z += add.z;
-}
-
-inline void XYZ::operator-=(XYZ add)
-{
- x = x - add.x;
- y = y - add.y;
- z = z - add.z;
-}
-
-inline void XYZ::operator*=(float add)
-{
- x = x * add;
- y = y * add;
- z = z * add;
-}
-
-inline void XYZ::operator*=(XYZ add)
-{
- x = x * add.x;
- y = y * add.y;
- z = z * add.z;
-}
-
-inline void XYZ::operator/=(float add)
-{
- x = x / add;
- y = y / add;
- z = z / add;
-}
-
-inline void XYZ::operator=(float add)
-{
- x = add;
- y = add;
- z = add;
-}
-
-inline void XYZ::vec(Vector add)
-{
- x = add.x;
- y = add.y;
- z = add.z;
-}
-
-inline bool XYZ::operator==(XYZ add)
-{
- if (x == add.x && y == add.y && z == add.z)
- return 1;
- return 0;
-}
-
-inline void CrossProduct(XYZ *P, XYZ *Q, XYZ *V)
-{
- V->x = P->y * Q->z - P->z * Q->y;
- V->y = P->z * Q->x - P->x * Q->z;
- V->z = P->x * Q->y - P->y * Q->x;
-}
-
-inline void CrossProduct(XYZ P, XYZ Q, XYZ *V)
-{
- V->x = P.y * Q.z - P.z * Q.y;
- V->y = P.z * Q.x - P.x * Q.z;
- V->z = P.x * Q.y - P.y * Q.x;
-}
-
-inline float fast_sqrt (register float arg)
-{
- return sqrtf(arg);
-}
-
-inline float normaldotproduct(XYZ point1, XYZ point2)
-{
- static GLfloat returnvalue;
- Normalise(&point1);
- Normalise(&point2);
- returnvalue = (point1.x * point2.x + point1.y * point2.y + point1.z * point2.z);
- return returnvalue;
-}
-
-inline void ReflectVector(XYZ *vel, const XYZ *n)
-{
- ReflectVector(vel, *n);
-}
-
-inline void ReflectVector(XYZ *vel, const XYZ &n)
-{
- static XYZ vn;
- static XYZ vt;
- static float dotprod;
-
- dotprod = dotproduct(&n, vel);
- vn.x = n.x * dotprod;
- vn.y = n.y * dotprod;
- vn.z = n.z * dotprod;
-
- vt.x = vel->x - vn.x;
- vt.y = vel->y - vn.y;
- vt.z = vel->z - vn.z;
-
- vel->x = vt.x - vn.x;
- vel->y = vt.y - vn.y;
- vel->z = vt.z - vn.z;
-}
-
-inline float dotproduct(const XYZ *point1, const XYZ *point2)
-{
- static GLfloat returnvalue;
- returnvalue = (point1->x * point2->x + point1->y * point2->y + point1->z * point2->z);
- return returnvalue;
-}
-
-inline float findDistance(XYZ *point1, XYZ *point2)
-{
- return(fast_sqrt((point1->x - point2->x) * (point1->x - point2->x) + (point1->y - point2->y) * (point1->y - point2->y) + (point1->z - point2->z) * (point1->z - point2->z)));
-}
-
-inline float findLength(XYZ *point1)
-{
- return(fast_sqrt((point1->x) * (point1->x) + (point1->y) * (point1->y) + (point1->z) * (point1->z)));
-}
-
-
-inline float findLengthfast(XYZ *point1)
-{
- return((point1->x) * (point1->x) + (point1->y) * (point1->y) + (point1->z) * (point1->z));
-}
-
-inline float distsq(XYZ *point1, XYZ *point2)
-{
- return((point1->x - point2->x) * (point1->x - point2->x) + (point1->y - point2->y) * (point1->y - point2->y) + (point1->z - point2->z) * (point1->z - point2->z));
-}
-
-inline float distsq(XYZ point1, XYZ point2)
-{
- return((point1.x - point2.x) * (point1.x - point2.x) + (point1.y - point2.y) * (point1.y - point2.y) + (point1.z - point2.z) * (point1.z - point2.z));
-}
-
-inline float distsqflat(XYZ *point1, XYZ *point2)
-{
- return((point1->x - point2->x) * (point1->x - point2->x) + (point1->z - point2->z) * (point1->z - point2->z));
-}
-
-inline XYZ DoRotation(XYZ thePoint, float xang, float yang, float zang)
-{
- static XYZ newpoint;
- if (xang) {
- xang *= 6.283185f;
- xang /= 360;
- }
- if (yang) {
- yang *= 6.283185f;
- yang /= 360;
- }
- if (zang) {
- zang *= 6.283185f;
- zang /= 360;
- }
-
-
- if (yang) {
- newpoint.z = thePoint.z * cosf(yang) - thePoint.x * sinf(yang);
- newpoint.x = thePoint.z * sinf(yang) + thePoint.x * cosf(yang);
- thePoint.z = newpoint.z;
- thePoint.x = newpoint.x;
- }
-
- if (zang) {
- newpoint.x = thePoint.x * cosf(zang) - thePoint.y * sinf(zang);
- newpoint.y = thePoint.y * cosf(zang) + thePoint.x * sinf(zang);
- thePoint.x = newpoint.x;
- thePoint.y = newpoint.y;
- }
-
- if (xang) {
- newpoint.y = thePoint.y * cosf(xang) - thePoint.z * sinf(xang);
- newpoint.z = thePoint.y * sinf(xang) + thePoint.z * cosf(xang);
- thePoint.z = newpoint.z;
- thePoint.y = newpoint.y;
- }
-
- return thePoint;
-}
-
-inline float square( float f )
-{
- return (f * f) ;
-}
-
-inline bool sphere_line_intersection (
- float x1, float y1 , float z1,
- float x2, float y2 , float z2,
- float x3, float y3 , float z3, float r )
-{
-
- // x1,y1,z1 P1 coordinates (point of line)
- // x2,y2,z2 P2 coordinates (point of line)
- // x3,y3,z3, r P3 coordinates and radius (sphere)
- // x,y,z intersection coordinates
- //
- // This function returns a pointer array which first index indicates
- // the number of intersection point, followed by coordinate pairs.
-
- //~ static float x , y , z;
- static float a, b, c, /*mu,*/ i ;
-
- if (x1 > x3 + r && x2 > x3 + r) return(0);
- if (x1 < x3 - r && x2 < x3 - r) return(0);
- if (y1 > y3 + r && y2 > y3 + r) return(0);
- if (y1 < y3 - r && y2 < y3 - r) return(0);
- if (z1 > z3 + r && z2 > z3 + r) return(0);
- if (z1 < z3 - r && z2 < z3 - r) return(0);
- a = square(x2 - x1) + square(y2 - y1) + square(z2 - z1);
- b = 2 * ( (x2 - x1) * (x1 - x3)
- + (y2 - y1) * (y1 - y3)
- + (z2 - z1) * (z1 - z3) ) ;
- c = square(x3) + square(y3) +
- square(z3) + square(x1) +
- square(y1) + square(z1) -
- 2 * ( x3 * x1 + y3 * y1 + z3 * z1 ) - square(r) ;
- i = b * b - 4 * a * c ;
-
- if ( i < 0.0 ) {
- // no intersection
- return(0);
- }
- return(1);
-}
-
-inline bool sphere_line_intersection (
- XYZ *p1, XYZ *p2, XYZ *p3, float *r )
-{
-
- // x1,p1->y,p1->z P1 coordinates (point of line)
- // p2->x,p2->y,p2->z P2 coordinates (point of line)
- // p3->x,p3->y,p3->z, r P3 coordinates and radius (sphere)
- // x,y,z intersection coordinates
- //
- // This function returns a pointer array which first index indicates
- // the number of intersection point, followed by coordinate pairs.
-
- //~ static float x , y , z;
- static float a, b, c, /*mu,*/ i ;
-
- if (p1->x > p3->x + *r && p2->x > p3->x + *r) return(0);
- if (p1->x < p3->x - *r && p2->x < p3->x - *r) return(0);
- if (p1->y > p3->y + *r && p2->y > p3->y + *r) return(0);
- if (p1->y < p3->y - *r && p2->y < p3->y - *r) return(0);
- if (p1->z > p3->z + *r && p2->z > p3->z + *r) return(0);
- if (p1->z < p3->z - *r && p2->z < p3->z - *r) return(0);
- a = square(p2->x - p1->x) + square(p2->y - p1->y) + square(p2->z - p1->z);
- b = 2 * ( (p2->x - p1->x) * (p1->x - p3->x)
- + (p2->y - p1->y) * (p1->y - p3->y)
- + (p2->z - p1->z) * (p1->z - p3->z) ) ;
- c = square(p3->x) + square(p3->y) +
- square(p3->z) + square(p1->x) +
- square(p1->y) + square(p1->z) -
- 2 * ( p3->x * p1->x + p3->y * p1->y + p3->z * p1->z ) - square(*r) ;
- i = b * b - 4 * a * c ;
-
- if ( i < 0.0 ) {
- // no intersection
- return(0);
- }
- return(1);
-}
-
-inline XYZ DoRotationRadian(XYZ thePoint, float xang, float yang, float zang)
-{
- static XYZ newpoint;
- static XYZ oldpoint;
-
- oldpoint = thePoint;
-
- if (yang != 0) {
- newpoint.z = oldpoint.z * cosf(yang) - oldpoint.x * sinf(yang);
- newpoint.x = oldpoint.z * sinf(yang) + oldpoint.x * cosf(yang);
- oldpoint.z = newpoint.z;
- oldpoint.x = newpoint.x;
- }
-
- if (zang != 0) {
- newpoint.x = oldpoint.x * cosf(zang) - oldpoint.y * sinf(zang);
- newpoint.y = oldpoint.y * cosf(zang) + oldpoint.x * sinf(zang);
- oldpoint.x = newpoint.x;
- oldpoint.y = newpoint.y;
- }
-
- if (xang != 0) {
- newpoint.y = oldpoint.y * cosf(xang) - oldpoint.z * sinf(xang);
- newpoint.z = oldpoint.y * sinf(xang) + oldpoint.z * cosf(xang);
- oldpoint.z = newpoint.z;
- oldpoint.y = newpoint.y;
- }
-
- return oldpoint;
-
-}
-
-inline bool DistancePointLine( XYZ *Point, XYZ *LineStart, XYZ *LineEnd, float *Distance, XYZ *Intersection )
-{
- float LineMag;
- float U;
-
- LineMag = findDistance( LineEnd, LineStart );
-
- U = ( ( ( Point->x - LineStart->x ) * ( LineEnd->x - LineStart->x ) ) +
- ( ( Point->y - LineStart->y ) * ( LineEnd->y - LineStart->y ) ) +
- ( ( Point->z - LineStart->z ) * ( LineEnd->z - LineStart->z ) ) ) /
- ( LineMag * LineMag );
-
- if ( U < 0.0f || U > 1.0f )
- return 0; // closest point does not fall within the line segment
-
- Intersection->x = LineStart->x + U * ( LineEnd->x - LineStart->x );
- Intersection->y = LineStart->y + U * ( LineEnd->y - LineStart->y );
- Intersection->z = LineStart->z + U * ( LineEnd->z - LineStart->z );
-
- *Distance = findDistance( Point, Intersection );
-
- return 1;
-}
-
-#endif
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