2 Copyright (C) 2003, 2010 - Wolfire Games
4 This file is part of Lugaru.
6 Lugaru is free software; you can redistribute it and/or modify
7 it under the terms of the GNU General Public License as published by
8 the Free Software Foundation; either version 2 of the License, or
9 (at your option) any later version.
11 Lugaru is distributed in the hope that it will be useful,
12 but WITHOUT ANY WARRANTY; without even the implied warranty of
13 MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
14 GNU General Public License for more details.
16 You should have received a copy of the GNU General Public License
17 along with Lugaru. If not, see <http://www.gnu.org/licenses/>.
20 #include "Quaternions.h"
23 quaternion Quat_Mult(quaternion q1, quaternion q2)
26 float a, b, c, d, e, f, g, h;
27 a = (q1.w + q1.x) * (q2.w + q2.x);
28 b = (q1.z - q1.y) * (q2.y - q2.z);
29 c = (q1.w - q1.x) * (q2.y + q2.z);
30 d = (q1.y + q1.z) * (q2.w - q2.x);
31 e = (q1.x + q1.z) * (q2.x + q2.y);
32 f = (q1.x - q1.z) * (q2.x - q2.y);
33 g = (q1.w + q1.y) * (q2.w - q2.z);
34 h = (q1.w - q1.y) * (q2.w + q2.z);
35 QResult.w = b + (-e - f + g + h) / 2;
36 QResult.x = a - (e + f + g + h) / 2;
37 QResult.y = c + (e - f + g - h) / 2;
38 QResult.z = d + (e - f - g + h) / 2;
44 quaternion To_Quat(Matrix_t m)
46 // From Jason Shankel, (C) 2000.
47 static quaternion Quat;
49 static double Tr = m[0][0] + m[1][1] + m[2][2] + 1.0, fourD;
54 fourD = 2.0 * fast_sqrt(Tr);
56 q[0] = (m[2][1] - m[1][2]) / fourD;
57 q[1] = (m[0][2] - m[2][0]) / fourD;
58 q[2] = (m[1][0] - m[0][1]) / fourD;
60 if (m[0][0] > m[1][1]) {
65 if (m[2][2] > m[i][i]) {
70 fourD = 2.0 * fast_sqrt(m[i][i] - m[j][j] - m[k][k] + 1.0);
72 q[j] = (m[j][i] + m[i][j]) / fourD;
73 q[k] = (m[k][i] + m[i][k]) / fourD;
74 q[3] = (m[j][k] - m[k][j]) / fourD;
83 void Quat_2_Matrix(quaternion Quat, Matrix_t m)
85 // From the GLVelocity site (http://glvelocity.gamedev.net)
93 m[0][0] = 1.0f - 2.0f * (fYY + fZZ);
94 m[1][0] = 2.0f * (fX * fY + fW * fZ);
95 m[2][0] = 2.0f * (fX * fZ - fW * fY);
97 m[0][1] = 2.0f * (fX * fY - fW * fZ);
98 m[1][1] = 1.0f - 2.0f * (fXX + fZZ);
99 m[2][1] = 2.0f * (fY * fZ + fW * fX);
101 m[0][2] = 2.0f * (fX * fZ + fW * fY);
102 m[1][2] = 2.0f * (fX * fZ - fW * fX);
103 m[2][2] = 1.0f - 2.0f * (fXX + fYY);
110 quaternion To_Quat(angle_axis Ang_Ax)
112 // From the Quaternion Powers article on gamedev.net
113 static quaternion Quat;
115 Quat.x = Ang_Ax.x * sin(Ang_Ax.angle / 2);
116 Quat.y = Ang_Ax.y * sin(Ang_Ax.angle / 2);
117 Quat.z = Ang_Ax.z * sin(Ang_Ax.angle / 2);
118 Quat.w = cos(Ang_Ax.angle / 2);
121 angle_axis Quat_2_AA(quaternion Quat)
123 static angle_axis Ang_Ax;
124 static float scale, tw;
125 tw = (float)acosf(Quat.w) * 2;
126 scale = (float)sin(tw / 2.0);
127 Ang_Ax.x = Quat.x / scale;
128 Ang_Ax.y = Quat.y / scale;
129 Ang_Ax.z = Quat.z / scale;
131 Ang_Ax.angle = 2.0 * acosf(Quat.w) / (float)PI * 180;
135 quaternion To_Quat(int In_Degrees, euler Euler)
137 // From the gamasutra quaternion article
138 static quaternion Quat;
139 static float cr, cp, cy, sr, sp, sy, cpcy, spsy;
140 //If we are in Degree mode, convert to Radians
142 Euler.x = Euler.x * (float)PI / 180;
143 Euler.y = Euler.y * (float)PI / 180;
144 Euler.z = Euler.z * (float)PI / 180;
146 //Calculate trig identities
147 //Formerly roll, pitch, yaw
148 cr = float(cos(Euler.x / 2));
149 cp = float(cos(Euler.y / 2));
150 cy = float(cos(Euler.z / 2));
151 sr = float(sin(Euler.x / 2));
152 sp = float(sin(Euler.y / 2));
153 sy = float(sin(Euler.z / 2));
157 Quat.w = cr * cpcy + sr * spsy;
158 Quat.x = sr * cpcy - cr * spsy;
159 Quat.y = cr * sp * cy + sr * cp * sy;
160 Quat.z = cr * cp * sy - sr * sp * cy;
165 quaternion QNormalize(quaternion Quat)
168 norm = Quat.x * Quat.x +
172 Quat.x = float(Quat.x / norm);
173 Quat.y = float(Quat.y / norm);
174 Quat.z = float(Quat.z / norm);
175 Quat.w = float(Quat.w / norm);
179 XYZ Quat2Vector(quaternion Quat)
190 tempvec.x = 2.0f * (fX * fZ - fW * fY);
191 tempvec.y = 2.0f * (fY * fZ + fW * fX);
192 tempvec.z = 1.0f - 2.0f * (fX * fX + fY * fY);
197 bool PointInTriangle(Vector *p, Vector normal, float p11, float p12, float p13, float p21, float p22, float p23, float p31, float p32, float p33)
199 static float u0, u1, u2;
200 static float v0, v1, v2;
205 static float pointv[3];
209 static float normalv[3];
230 normalv[0] = normal.x;
231 normalv[1] = normal.y;
232 normalv[2] = normal.z;
234 #define ABS(X) (((X)<0.f)?-(X):(X) )
235 #define MAX(A, B) (((A)<(B))?(B):(A))
236 max = MAX(MAX(ABS(normalv[0]), ABS(normalv[1])), ABS(normalv[2]));
238 if (max == ABS(normalv[0])) {
242 if (max == ABS(normalv[1])) {
246 if (max == ABS(normalv[2])) {
252 u0 = pointv[i] - p1v[i];
253 v0 = pointv[j] - p1v[j];
254 u1 = p2v[i] - p1v[i];
255 v1 = p2v[j] - p1v[j];
256 u2 = p3v[i] - p1v[i];
257 v2 = p3v[j] - p1v[j];
259 if (u1 > -1.0e-05f && u1 < 1.0e-05f) { // == 0.0f)
261 if (0.0f <= b && b <= 1.0f) {
262 a = (v0 - b * v2) / v1;
263 if ((a >= 0.0f) && (( a + b ) <= 1.0f))
267 b = (v0 * u1 - u0 * v1) / (v2 * u1 - u2 * v1);
268 if (0.0f <= b && b <= 1.0f) {
269 a = (u0 - b * u2) / u1;
270 if ((a >= 0.0f) && (( a + b ) <= 1.0f ))
278 bool LineFacet(Vector p1, Vector p2, Vector pa, Vector pb, Vector pc, Vector *p)
281 static float denom, mu;
282 static Vector n, pa1, pa2, pa3;
284 //Calculate the parameters for the plane
285 n.x = (pb.y - pa.y) * (pc.z - pa.z) - (pb.z - pa.z) * (pc.y - pa.y);
286 n.y = (pb.z - pa.z) * (pc.x - pa.x) - (pb.x - pa.x) * (pc.z - pa.z);
287 n.z = (pb.x - pa.x) * (pc.y - pa.y) - (pb.y - pa.y) * (pc.x - pa.x);
289 d = - n.x * pa.x - n.y * pa.y - n.z * pa.z;
291 //Calculate the position on the line that intersects the plane
292 denom = n.x * (p2.x - p1.x) + n.y * (p2.y - p1.y) + n.z * (p2.z - p1.z);
293 if (fabs(denom) < 0.0000001) // Line and plane don't intersect
295 mu = - (d + n.x * p1.x + n.y * p1.y + n.z * p1.z) / denom;
296 p->x = p1.x + mu * (p2.x - p1.x);
297 p->y = p1.y + mu * (p2.y - p1.y);
298 p->z = p1.z + mu * (p2.z - p1.z);
299 if (mu < 0 || mu > 1) // Intersection not along line segment
302 if (!PointInTriangle( p, n, pa.x, pa.y, pa.z, pb.x, pb.y, pb.z, pc.x, pc.y, pc.z)) {
309 bool PointInTriangle(XYZ *p, XYZ normal, XYZ *p1, XYZ *p2, XYZ *p3)
311 static float u0, u1, u2;
312 static float v0, v1, v2;
316 static bool bInter = 0;
317 static float pointv[3];
321 static float normalv[3];
342 normalv[0] = normal.x;
343 normalv[1] = normal.y;
344 normalv[2] = normal.z;
346 #define ABS(X) (((X)<0.f)?-(X):(X) )
347 #define MAX(A, B) (((A)<(B))?(B):(A))
348 max = MAX(MAX(ABS(normalv[0]), ABS(normalv[1])), ABS(normalv[2]));
350 if (max == ABS(normalv[0])) {
354 if (max == ABS(normalv[1])) {
358 if (max == ABS(normalv[2])) {
364 u0 = pointv[i] - p1v[i];
365 v0 = pointv[j] - p1v[j];
366 u1 = p2v[i] - p1v[i];
367 v1 = p2v[j] - p1v[j];
368 u2 = p3v[i] - p1v[i];
369 v2 = p3v[j] - p1v[j];
371 if (u1 > -1.0e-05f && u1 < 1.0e-05f) { // == 0.0f)
373 if (0.0f <= b && b <= 1.0f) {
374 a = (v0 - b * v2) / v1;
375 if ((a >= 0.0f) && (( a + b ) <= 1.0f))
379 b = (v0 * u1 - u0 * v1) / (v2 * u1 - u2 * v1);
380 if (0.0f <= b && b <= 1.0f) {
381 a = (u0 - b * u2) / u1;
382 if ((a >= 0.0f) && (( a + b ) <= 1.0f ))
390 bool LineFacet(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ *p)
393 static float denom, mu;
394 static XYZ n, pa1, pa2, pa3;
396 //Calculate the parameters for the plane
397 n.x = (pb.y - pa.y) * (pc.z - pa.z) - (pb.z - pa.z) * (pc.y - pa.y);
398 n.y = (pb.z - pa.z) * (pc.x - pa.x) - (pb.x - pa.x) * (pc.z - pa.z);
399 n.z = (pb.x - pa.x) * (pc.y - pa.y) - (pb.y - pa.y) * (pc.x - pa.x);
401 d = - n.x * pa.x - n.y * pa.y - n.z * pa.z;
403 //Calculate the position on the line that intersects the plane
404 denom = n.x * (p2.x - p1.x) + n.y * (p2.y - p1.y) + n.z * (p2.z - p1.z);
405 if (fabs(denom) < 0.0000001) // Line and plane don't intersect
407 mu = - (d + n.x * p1.x + n.y * p1.y + n.z * p1.z) / denom;
408 p->x = p1.x + mu * (p2.x - p1.x);
409 p->y = p1.y + mu * (p2.y - p1.y);
410 p->z = p1.z + mu * (p2.z - p1.z);
411 if (mu < 0 || mu > 1) // Intersection not along line segment
414 if (!PointInTriangle( p, n, &pa, &pb, &pc)) {
421 float LineFacetd(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ *p)
424 static float denom, mu;
425 static XYZ n, pa1, pa2, pa3;
427 //Calculate the parameters for the plane
428 n.x = (pb.y - pa.y) * (pc.z - pa.z) - (pb.z - pa.z) * (pc.y - pa.y);
429 n.y = (pb.z - pa.z) * (pc.x - pa.x) - (pb.x - pa.x) * (pc.z - pa.z);
430 n.z = (pb.x - pa.x) * (pc.y - pa.y) - (pb.y - pa.y) * (pc.x - pa.x);
432 d = - n.x * pa.x - n.y * pa.y - n.z * pa.z;
434 //Calculate the position on the line that intersects the plane
435 denom = n.x * (p2.x - p1.x) + n.y * (p2.y - p1.y) + n.z * (p2.z - p1.z);
436 if (fabs(denom) < 0.0000001) // Line and plane don't intersect
438 mu = - (d + n.x * p1.x + n.y * p1.y + n.z * p1.z) / denom;
439 p->x = p1.x + mu * (p2.x - p1.x);
440 p->y = p1.y + mu * (p2.y - p1.y);
441 p->z = p1.z + mu * (p2.z - p1.z);
442 if (mu < 0 || mu > 1) // Intersection not along line segment
445 if (!PointInTriangle( p, n, &pa, &pb, &pc)) {
452 float LineFacetd(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ n, XYZ *p)
455 static float denom, mu;
456 static XYZ pa1, pa2, pa3;
458 //Calculate the parameters for the plane
459 d = - n.x * pa.x - n.y * pa.y - n.z * pa.z;
461 //Calculate the position on the line that intersects the plane
462 denom = n.x * (p2.x - p1.x) + n.y * (p2.y - p1.y) + n.z * (p2.z - p1.z);
463 if (fabs(denom) < 0.0000001) // Line and plane don't intersect
465 mu = - (d + n.x * p1.x + n.y * p1.y + n.z * p1.z) / denom;
466 p->x = p1.x + mu * (p2.x - p1.x);
467 p->y = p1.y + mu * (p2.y - p1.y);
468 p->z = p1.z + mu * (p2.z - p1.z);
469 if (mu < 0 || mu > 1) // Intersection not along line segment
472 if (!PointInTriangle( p, n, &pa, &pb, &pc)) {
478 float LineFacetd(XYZ *p1, XYZ *p2, XYZ *pa, XYZ *pb, XYZ *pc, XYZ *p)
481 static float denom, mu;
482 static XYZ pa1, pa2, pa3, n;
484 //Calculate the parameters for the plane
485 n.x = (pb->y - pa->y) * (pc->z - pa->z) - (pb->z - pa->z) * (pc->y - pa->y);
486 n.y = (pb->z - pa->z) * (pc->x - pa->x) - (pb->x - pa->x) * (pc->z - pa->z);
487 n.z = (pb->x - pa->x) * (pc->y - pa->y) - (pb->y - pa->y) * (pc->x - pa->x);
489 d = - n.x * pa->x - n.y * pa->y - n.z * pa->z;
492 //Calculate the position on the line that intersects the plane
493 denom = n.x * (p2->x - p1->x) + n.y * (p2->y - p1->y) + n.z * (p2->z - p1->z);
494 if (fabs(denom) < 0.0000001) // Line and plane don't intersect
496 mu = - (d + n.x * p1->x + n.y * p1->y + n.z * p1->z) / denom;
497 p->x = p1->x + mu * (p2->x - p1->x);
498 p->y = p1->y + mu * (p2->y - p1->y);
499 p->z = p1->z + mu * (p2->z - p1->z);
500 if (mu < 0 || mu > 1) // Intersection not along line segment
503 if (!PointInTriangle( p, n, pa, pb, pc)) {
509 float LineFacetd(XYZ *p1, XYZ *p2, XYZ *pa, XYZ *pb, XYZ *pc, XYZ *n, XYZ *p)
512 static float denom, mu;
513 static XYZ pa1, pa2, pa3;
515 //Calculate the parameters for the plane
516 d = - n->x * pa->x - n->y * pa->y - n->z * pa->z;
518 //Calculate the position on the line that intersects the plane
519 denom = n->x * (p2->x - p1->x) + n->y * (p2->y - p1->y) + n->z * (p2->z - p1->z);
520 if (fabs(denom) < 0.0000001) // Line and plane don't intersect
522 mu = - (d + n->x * p1->x + n->y * p1->y + n->z * p1->z) / denom;
523 p->x = p1->x + mu * (p2->x - p1->x);
524 p->y = p1->y + mu * (p2->y - p1->y);
525 p->z = p1->z + mu * (p2->z - p1->z);
526 if (mu < 0 || mu > 1) // Intersection not along line segment
529 if (!PointInTriangle( p, *n, pa, pb, pc)) {