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/>.
21 #ifndef _QUATERNIONS_H_
22 #define _QUATERNIONS_H_
25 #include "PhysicsMath.h"
28 /**> Quaternion Structures <**/
29 #define PI 3.14159265355555897932384626
32 #define deg2rad .0174532925
34 //using namespace std;
35 typedef float Matrix_t [4][4];
52 XYZ() : x(0.0f), y(0.0f), z(0.0f) {}
53 inline XYZ operator+(XYZ add);
54 inline XYZ operator-(XYZ add);
55 inline XYZ operator*(float add);
56 inline XYZ operator*(XYZ add);
57 inline XYZ operator/(float add);
58 inline void operator+=(XYZ add);
59 inline void operator-=(XYZ add);
60 inline void operator*=(float add);
61 inline void operator*=(XYZ add);
62 inline void operator/=(float add);
63 inline void operator=(float add);
64 inline void vec(Vector add);
65 inline bool operator==(XYZ add);
68 /*********************> Quaternion Function definition <********/
69 quaternion To_Quat(int Degree_Flag, euler Euler);
70 quaternion To_Quat(angle_axis Ang_Ax);
71 quaternion To_Quat(Matrix_t m);
72 angle_axis Quat_2_AA(quaternion Quat);
73 void Quat_2_Matrix(quaternion Quat, Matrix_t m);
74 quaternion Normalize(quaternion Quat);
75 quaternion Quat_Mult(quaternion q1, quaternion q2);
76 quaternion QNormalize(quaternion Quat);
77 XYZ Quat2Vector(quaternion Quat);
79 inline void CrossProduct(XYZ *P, XYZ *Q, XYZ *V);
80 inline void CrossProduct(XYZ P, XYZ Q, XYZ *V);
81 inline void Normalise(XYZ *vectory);
82 inline float normaldotproduct(XYZ point1, XYZ point2);
83 inline float fast_sqrt (register float arg);
84 bool PointInTriangle(XYZ *p, XYZ normal, XYZ *p1, XYZ *p2, XYZ *p3);
85 bool LineFacet(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ *p);
86 float LineFacetd(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ *p);
87 float LineFacetd(XYZ p1, XYZ p2, XYZ pa, XYZ pb, XYZ pc, XYZ n, XYZ *p);
88 float LineFacetd(XYZ *p1, XYZ *p2, XYZ *pa, XYZ *pb, XYZ *pc, XYZ *n, XYZ *p);
89 float LineFacetd(XYZ *p1, XYZ *p2, XYZ *pa, XYZ *pb, XYZ *pc, XYZ *p);
90 bool PointInTriangle(Vector *p, Vector normal, float p11, float p12, float p13, float p21, float p22, float p23, float p31, float p32, float p33);
91 bool LineFacet(Vector p1, Vector p2, Vector pa, Vector pb, Vector pc, Vector *p);
92 inline void ReflectVector(XYZ *vel, const XYZ *n);
93 inline void ReflectVector(XYZ *vel, const XYZ &n);
94 inline XYZ DoRotation(XYZ thePoint, float xang, float yang, float zang);
95 inline XYZ DoRotationRadian(XYZ thePoint, float xang, float yang, float zang);
96 inline float findDistance(XYZ *point1, XYZ *point2);
97 inline float findLength(XYZ *point1);
98 inline float findLengthfast(XYZ *point1);
99 inline float distsq(XYZ *point1, XYZ *point2);
100 inline float distsq(XYZ point1, XYZ point2);
101 inline float distsqflat(XYZ *point1, XYZ *point2);
102 inline float dotproduct(const XYZ *point1, const XYZ *point2);
103 bool sphere_line_intersection (
104 float x1, float y1 , float z1,
105 float x2, float y2 , float z2,
106 float x3, float y3 , float z3, float r );
107 bool sphere_line_intersection (
108 XYZ *p1, XYZ *p2, XYZ *p3, float *r );
109 inline bool DistancePointLine( XYZ *Point, XYZ *LineStart, XYZ *LineEnd, float *Distance, XYZ *Intersection );
112 inline void Normalise(XYZ *vectory)
115 d = fast_sqrt(vectory->x * vectory->x + vectory->y * vectory->y + vectory->z * vectory->z);
124 inline XYZ XYZ::operator+(XYZ add)
134 inline XYZ XYZ::operator-(XYZ add)
144 inline XYZ XYZ::operator*(float add)
153 inline XYZ XYZ::operator*(XYZ add)
162 inline XYZ XYZ::operator/(float add)
171 inline void XYZ::operator+=(XYZ add)
178 inline void XYZ::operator-=(XYZ add)
185 inline void XYZ::operator*=(float add)
192 inline void XYZ::operator*=(XYZ add)
199 inline void XYZ::operator/=(float add)
206 inline void XYZ::operator=(float add)
213 inline void XYZ::vec(Vector add)
220 inline bool XYZ::operator==(XYZ add)
222 if (x == add.x && y == add.y && z == add.z)
227 inline void CrossProduct(XYZ *P, XYZ *Q, XYZ *V)
229 V->x = P->y * Q->z - P->z * Q->y;
230 V->y = P->z * Q->x - P->x * Q->z;
231 V->z = P->x * Q->y - P->y * Q->x;
234 inline void CrossProduct(XYZ P, XYZ Q, XYZ *V)
236 V->x = P.y * Q.z - P.z * Q.y;
237 V->y = P.z * Q.x - P.x * Q.z;
238 V->z = P.x * Q.y - P.y * Q.x;
241 inline float fast_sqrt (register float arg)
244 // Can replace with slower return std::sqrt(arg);
245 register float result;
251 frsqrte result, arg // Calculate Square root
254 // Newton Rhapson iterations.
255 result = result + 0.5 * result * (1.0 - arg * result * result);
256 result = result + 0.5 * result * (1.0 - arg * result * result);
264 inline float normaldotproduct(XYZ point1, XYZ point2)
266 static GLfloat returnvalue;
269 returnvalue = (point1.x * point2.x + point1.y * point2.y + point1.z * point2.z);
273 inline void ReflectVector(XYZ *vel, const XYZ *n)
275 ReflectVector(vel, *n);
278 inline void ReflectVector(XYZ *vel, const XYZ &n)
282 static float dotprod;
284 dotprod = dotproduct(&n, vel);
285 vn.x = n.x * dotprod;
286 vn.y = n.y * dotprod;
287 vn.z = n.z * dotprod;
289 vt.x = vel->x - vn.x;
290 vt.y = vel->y - vn.y;
291 vt.z = vel->z - vn.z;
293 vel->x = vt.x - vn.x;
294 vel->y = vt.y - vn.y;
295 vel->z = vt.z - vn.z;
298 inline float dotproduct(const XYZ *point1, const XYZ *point2)
300 static GLfloat returnvalue;
301 returnvalue = (point1->x * point2->x + point1->y * point2->y + point1->z * point2->z);
305 inline float findDistance(XYZ *point1, XYZ *point2)
307 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)));
310 inline float findLength(XYZ *point1)
312 return(fast_sqrt((point1->x) * (point1->x) + (point1->y) * (point1->y) + (point1->z) * (point1->z)));
316 inline float findLengthfast(XYZ *point1)
318 return((point1->x) * (point1->x) + (point1->y) * (point1->y) + (point1->z) * (point1->z));
321 inline float distsq(XYZ *point1, XYZ *point2)
323 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));
326 inline float distsq(XYZ point1, XYZ point2)
328 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));
331 inline float distsqflat(XYZ *point1, XYZ *point2)
333 return((point1->x - point2->x) * (point1->x - point2->x) + (point1->z - point2->z) * (point1->z - point2->z));
336 inline XYZ DoRotation(XYZ thePoint, float xang, float yang, float zang)
354 newpoint.z = thePoint.z * cosf(yang) - thePoint.x * sinf(yang);
355 newpoint.x = thePoint.z * sinf(yang) + thePoint.x * cosf(yang);
356 thePoint.z = newpoint.z;
357 thePoint.x = newpoint.x;
361 newpoint.x = thePoint.x * cosf(zang) - thePoint.y * sinf(zang);
362 newpoint.y = thePoint.y * cosf(zang) + thePoint.x * sinf(zang);
363 thePoint.x = newpoint.x;
364 thePoint.y = newpoint.y;
368 newpoint.y = thePoint.y * cosf(xang) - thePoint.z * sinf(xang);
369 newpoint.z = thePoint.y * sinf(xang) + thePoint.z * cosf(xang);
370 thePoint.z = newpoint.z;
371 thePoint.y = newpoint.y;
377 inline float square( float f )
382 inline bool sphere_line_intersection (
383 float x1, float y1 , float z1,
384 float x2, float y2 , float z2,
385 float x3, float y3 , float z3, float r )
388 // x1,y1,z1 P1 coordinates (point of line)
389 // x2,y2,z2 P2 coordinates (point of line)
390 // x3,y3,z3, r P3 coordinates and radius (sphere)
391 // x,y,z intersection coordinates
393 // This function returns a pointer array which first index indicates
394 // the number of intersection point, followed by coordinate pairs.
396 //~ static float x , y , z;
397 static float a, b, c, /*mu,*/ i ;
399 if (x1 > x3 + r && x2 > x3 + r) return(0);
400 if (x1 < x3 - r && x2 < x3 - r) return(0);
401 if (y1 > y3 + r && y2 > y3 + r) return(0);
402 if (y1 < y3 - r && y2 < y3 - r) return(0);
403 if (z1 > z3 + r && z2 > z3 + r) return(0);
404 if (z1 < z3 - r && z2 < z3 - r) return(0);
405 a = square(x2 - x1) + square(y2 - y1) + square(z2 - z1);
406 b = 2 * ( (x2 - x1) * (x1 - x3)
407 + (y2 - y1) * (y1 - y3)
408 + (z2 - z1) * (z1 - z3) ) ;
409 c = square(x3) + square(y3) +
410 square(z3) + square(x1) +
411 square(y1) + square(z1) -
412 2 * ( x3 * x1 + y3 * y1 + z3 * z1 ) - square(r) ;
413 i = b * b - 4 * a * c ;
422 inline bool sphere_line_intersection (
423 XYZ *p1, XYZ *p2, XYZ *p3, float *r )
426 // x1,p1->y,p1->z P1 coordinates (point of line)
427 // p2->x,p2->y,p2->z P2 coordinates (point of line)
428 // p3->x,p3->y,p3->z, r P3 coordinates and radius (sphere)
429 // x,y,z intersection coordinates
431 // This function returns a pointer array which first index indicates
432 // the number of intersection point, followed by coordinate pairs.
434 //~ static float x , y , z;
435 static float a, b, c, /*mu,*/ i ;
437 if (p1->x > p3->x + *r && p2->x > p3->x + *r) return(0);
438 if (p1->x < p3->x - *r && p2->x < p3->x - *r) return(0);
439 if (p1->y > p3->y + *r && p2->y > p3->y + *r) return(0);
440 if (p1->y < p3->y - *r && p2->y < p3->y - *r) return(0);
441 if (p1->z > p3->z + *r && p2->z > p3->z + *r) return(0);
442 if (p1->z < p3->z - *r && p2->z < p3->z - *r) return(0);
443 a = square(p2->x - p1->x) + square(p2->y - p1->y) + square(p2->z - p1->z);
444 b = 2 * ( (p2->x - p1->x) * (p1->x - p3->x)
445 + (p2->y - p1->y) * (p1->y - p3->y)
446 + (p2->z - p1->z) * (p1->z - p3->z) ) ;
447 c = square(p3->x) + square(p3->y) +
448 square(p3->z) + square(p1->x) +
449 square(p1->y) + square(p1->z) -
450 2 * ( p3->x * p1->x + p3->y * p1->y + p3->z * p1->z ) - square(*r) ;
451 i = b * b - 4 * a * c ;
460 inline XYZ DoRotationRadian(XYZ thePoint, float xang, float yang, float zang)
468 newpoint.z = oldpoint.z * cosf(yang) - oldpoint.x * sinf(yang);
469 newpoint.x = oldpoint.z * sinf(yang) + oldpoint.x * cosf(yang);
470 oldpoint.z = newpoint.z;
471 oldpoint.x = newpoint.x;
475 newpoint.x = oldpoint.x * cosf(zang) - oldpoint.y * sinf(zang);
476 newpoint.y = oldpoint.y * cosf(zang) + oldpoint.x * sinf(zang);
477 oldpoint.x = newpoint.x;
478 oldpoint.y = newpoint.y;
482 newpoint.y = oldpoint.y * cosf(xang) - oldpoint.z * sinf(xang);
483 newpoint.z = oldpoint.y * sinf(xang) + oldpoint.z * cosf(xang);
484 oldpoint.z = newpoint.z;
485 oldpoint.y = newpoint.y;
492 inline bool DistancePointLine( XYZ *Point, XYZ *LineStart, XYZ *LineEnd, float *Distance, XYZ *Intersection )
497 LineMag = findDistance( LineEnd, LineStart );
499 U = ( ( ( Point->x - LineStart->x ) * ( LineEnd->x - LineStart->x ) ) +
500 ( ( Point->y - LineStart->y ) * ( LineEnd->y - LineStart->y ) ) +
501 ( ( Point->z - LineStart->z ) * ( LineEnd->z - LineStart->z ) ) ) /
502 ( LineMag * LineMag );
504 if ( U < 0.0f || U > 1.0f )
505 return 0; // closest point does not fall within the line segment
507 Intersection->x = LineStart->x + U * ( LineEnd->x - LineStart->x );
508 Intersection->y = LineStart->y + U * ( LineEnd->y - LineStart->y );
509 Intersection->z = LineStart->z + U * ( LineEnd->z - LineStart->z );
511 *Distance = findDistance( Point, Intersection );