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ephysics: wrap bullet's quaternion 

Useful for 3d rotations.
Avoid issues found when using euler angles, like gimbal locks.



SVN revision: 79252
This commit is contained in:
Bruno Dilly 2012-11-13 22:18:16 +00:00
parent cbf0049a64
commit eab0f81290
8 changed files with 735 additions and 90 deletions
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17
legacy/ephysics/src/bin/ephysics_sandbox.c
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@ -115,16 +115,17 @@ _world_restitution_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
static void
_type_set_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
{
double mass, rotation, friction, restitution, lin_damping, ang_damping;
double mass, friction, restitution, lin_damping, ang_damping;
double lin_sleeping, ang_sleeping;
EPhysics_Body_Material material;
EPhysics_Quaternion *rotation;
Evas_Object *body_image;
EPhysics_World *world;
Body_Data *bd = data;
EPhysics_Body *body = bd->body;
mass = ephysics_body_mass_get(body);
ephysics_body_rotation_get(body, 0, 0, &rotation);
rotation = ephysics_body_rotation_get(body);
friction = ephysics_body_friction_get(body);
restitution = ephysics_body_restitution_get(body);
ephysics_body_damping_get(body, &lin_damping, &ang_damping);
@ -151,7 +152,7 @@ _type_set_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
ephysics_body_evas_object_set(body, body_image, EINA_TRUE);
ephysics_body_mass_set(body, mass);
ephysics_body_rotation_set(body, 0, 0, rotation);
ephysics_body_rotation_set(body, rotation);
ephysics_body_friction_set(body, friction);
ephysics_body_restitution_set(body, restitution);
ephysics_body_damping_set(body, lin_damping, ang_damping);
@ -167,6 +168,7 @@ _type_set_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
elm_slider_value_get(bd->controls.force.torque));
bd->body = body;
free(rotation);
}
static void
@ -227,8 +229,13 @@ _density_set_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
static void
_rotation_set_cb(void *data, Evas_Object *obj, void *event_info __UNUSED__)
{
EPhysics_Quaternion *quat;
Body_Data *bd = data;
ephysics_body_rotation_set(bd->body, 0, 0, elm_slider_value_get(obj));
quat = ephysics_quaternion_new(0, 0, 0, 0);
ephysics_quaternion_euler_set(quat, 0, 0, elm_slider_value_get(obj));
ephysics_body_rotation_set(bd->body, quat);
free(quat);
}
static void
@ -713,7 +720,7 @@ _menu_body_page_add(World_Data *wd, Body_Data *bd, const char *pg_label)
evas_object_data_set(widget, "mass", aux_widget);
evas_object_smart_callback_add(widget, "delay,changed", _density_set_cb,
bd);
widget = _slider_add(bx, "Rotation (º)", "%1.0f", 0, 360, 0);
widget = _slider_add(bx, "Rotation (rad)", "%1.3f", -3.1415, 3.1415, 0);
evas_object_smart_callback_add(widget, "delay,changed", _rotation_set_cb,
bd);
widget = _slider_add(bx, "Friction", "%1.3f", 0, 1, 0.5);

10
legacy/ephysics/src/bin/test_bouncing_3d.c
View File

@ -7,14 +7,18 @@
static void
_pos_print_cb(void *data __UNUSED__, EPhysics_Body *body, void *event_info __UNUSED__)
{
EPhysics_Quaternion *quat;
double rx, ry, rz, rw;
Evas_Coord x, y, z;
double rx, ry, rz;
ephysics_body_geometry_get(body, &x, &y, &z, NULL, NULL, NULL);
ephysics_body_rotation_get(body, &rx, &ry, &rz);
quat = ephysics_body_rotation_get(body);
ephysics_quaternion_get(quat, &rx, &ry, &rz, &rw);
free(quat);
printf("Position X:%i Y:%i Z:%i\n", x, y, z);
printf("Rotation X:%lf Y:%lf Z:%lf\n", rx, ry, rz);
printf("Rotation X:%lf Y:%lf Z:%lf W:%lf\n", rx, ry, rz, rw);
}
static Eina_Bool

19
legacy/ephysics/src/bin/test_cube_3d.c
View File

@ -9,16 +9,25 @@
static void
_mouse_move_cb(void *data, Evas *e __UNUSED__, Evas_Object *obj __UNUSED__, void *event_info)
{
EPhysics_Quaternion *quat_prev, *quat_delta, *quat;
Evas_Event_Mouse_Move *mmove = event_info;
EPhysics_Body *body = data;
double rx, ry, rz;
double rx, ry;
if (mmove->buttons != 1) return;
ephysics_body_rotation_get(body, &rx, &ry, &rz);
rx += mmove->cur.output.y - mmove->prev.output.y;
ry += mmove->cur.output.x - mmove->prev.output.x;
ephysics_body_rotation_set(body, rx, ry, rz);
rx = mmove->cur.output.y - mmove->prev.output.y;
ry = mmove->cur.output.x - mmove->prev.output.x;
quat_prev = ephysics_body_rotation_get(body);
quat_delta = ephysics_quaternion_new(0, 0, 0, 0);
ephysics_quaternion_euler_set(quat_delta, -ry * 0.06, - rx * 0.04, 0);
quat = ephysics_quaternion_multiply(quat_prev, quat_delta);
ephysics_body_rotation_set(body, quat);
free(quat_prev);
free(quat_delta);
free(quat);
}
static void

25
legacy/ephysics/src/bin/test_rotating_forever.c
View File

@ -7,11 +7,19 @@
static Eina_Bool
_rotate_cb(void *data)
{
EPhysics_Quaternion *quat_prev, *quat_delta, *quat;
EPhysics_Body *body = data;
double rotation;
ephysics_body_rotation_get(body, NULL, NULL, &rotation);
ephysics_body_rotation_set(body, 0, 0, ((int) round(rotation) + 5) % 360);
quat_prev = ephysics_body_rotation_get(body);
quat_delta = ephysics_quaternion_new(0, 0, -0.15, 0.98);
ephysics_quaternion_normalize(quat_delta);
quat = ephysics_quaternion_multiply(quat_delta, quat_prev);
ephysics_body_rotation_set(body, quat);
free(quat_prev);
free(quat_delta);
free(quat);
return EINA_TRUE;
}
@ -65,15 +73,20 @@ _del_torque_cb(void *data __UNUSED__, Evas *e __UNUSED__, Evas_Object *obj, void
static void
_update_object_cb(void *data __UNUSED__, EPhysics_Body *body, void *event_info __UNUSED__)
{
double rot, vrot, torque;
double rx, ry, rz, rw, vrot, torque;
EPhysics_Quaternion *quat;
ephysics_body_rotation_get(body, NULL, NULL, &rot);
ephysics_body_angular_velocity_get(body, NULL, NULL, &vrot);
ephysics_body_torques_get(body, NULL, NULL, &torque);
quat = ephysics_body_rotation_get(body);
ephysics_quaternion_get(quat, &rx, &ry, &rz, &rw);
free(quat);
ephysics_body_evas_object_update(body);
DBG("body: %p, rot: %lf, vrot: %lf, torque: %lf", body, rot, vrot, torque);
DBG("body: %p, rot: (%lf, %lf, %lf, %lf), vrot: %lf, torque: %lf", body,
rx, ry, rz, rw, vrot, torque);
}
static void

356
legacy/ephysics/src/lib/EPhysics.h
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@ -115,6 +115,319 @@ EAPI int ephysics_init(void);
*/
EAPI int ephysics_shutdown(void);
/**
* @}
*/
/**
* @defgroup EPhysics_Quaternion EPhysics Quaternion
* @ingroup EPhysics
*
* @{
*
* Quaternions are used to perform linear algebra rotations.
*
* Functions regarding rotation, like @ref ephysics_body_rotation_set()
* and @ref ephysics_body_rotation_get() would need that. Quaternions
* can be used to rotate evas maps as well, with evas_map_util_quat_rotate(),
* but in this case quaternion values need to be get with
* @ref ephysics_quaternion_get(), since evas don't accept
* EPhysics_Quaternion type.
*
* A quaternion can be created with ephysics_quaternion_new(), and many
* operations can be performed with that, as:
* @li Sum: @ref ephysics_quaternion_sum()
* @li Difference: @ref ephysics_quaternion_diff()
* @li Multiple by another quaternion: @ref ephysics_quaternion_multiply()
* @li Multiply by scalar: @ref ephysics_quaternion_scale()
* @li Divide by scalar: @ref ephysics_quaternion_inverse_scale()
* @li Calculate length: @ref ephysics_quaternion_length_get()
* @li Calculate angle between quaternions: @ref ephysics_quaternion_angle_get()
*/
/**
* @typedef EPhysics_Quaternion
*
* Quaternion handle, represents a quaternion to be used to rotate bodies.
*
* Created with @ref ephysics_quaternion_new() and deleted with free().
*
* @ingroup EPhysics_Quaternion
*/
typedef struct _EPhysics_Quaternion EPhysics_Quaternion;
/**
* @brief
* Create a new quaternion.
*
* @note It should be deleted with free() after usage is concluded.
*
* This values can be modified later by quaternion operations or set directly.
*
* @param x The x coordinate.
* @param y The y coordinate.
* @param z The z coordinate.
* @param w The rotation.
* @return The created quaternion or @c NULL on error.
*
* @see ephysics_quaternion_set();
* @see ephysics_quaternion_axis_angle_set();
* @see ephysics_quaternion_euler_set();
* @see ephysics_quaternion_scale();
* @see ephysics_quaternion_sum();
*
* @ingroup EPhysics_Quaternion
*/
EAPI EPhysics_Quaternion *ephysics_quaternion_new(double x, double y, double z, double w);
/**
* @brief
* Get quaternion values.
*
* @param quat Quaternion to get values from.
* @param x The x coordinate.
* @param y The y coordinate.
* @param z The z coordinate.
* @param w The rotation.
*
* @see ephysics_quaternion_set();
*
* @ingroup EPhysics_Quaternion
*/
EAPI void ephysics_quaternion_get(const EPhysics_Quaternion *quat, double *x, double *y, double *z, double *w);
/**
* @brief
* Get quaternion axis and angle.
*
* @param quat Quaternion to get values from.
* @param nx The x component of the axis of rotation.
* @param ny The y component of the axis of rotation.
* @param nz The z component of the axis of rotation.
* @param a The angle of rotation.
*
* @see ephysics_quaternion_axis_angle_set();
* @see ephysics_quaternion_get();
* @see ephysics_quaternion_set();
*
* @ingroup EPhysics_Quaternion
*/
EAPI void ephysics_quaternion_axis_angle_get(const EPhysics_Quaternion *quat, double *nx, double *ny, double *nz, double *a);
/**
* @brief
* Set quaternion values.
*
* @param quat Quaternion to be set.
* @param x The x coordinate.
* @param y The y coordinate.
* @param z The z coordinate.
* @param w The rotation.
*
* @see ephysics_quaternion_get();
* @see ephysics_quaternion_euler_set();
*
* @ingroup EPhysics_Quaternion
*/
EAPI void ephysics_quaternion_set(EPhysics_Quaternion *quat, double x, double y, double z, double w);
/**
* @brief
* Set quaternion using axis angle notation.
*
* [w, x, y, z] = [cos(a/2), sin(a/2) * nx, sin(a/2)* ny, sin(a/2) * nz]
*
* @param quat Quaternion to be set.
* @param nx The x component of the axis of rotation.
* @param ny The y component of the axis of rotation.
* @param nz The z component of the axis of rotation.
* @param a The angle of rotation.
*
* @see ephysics_quaternion_axis_angle_get();
* @see ephysics_quaternion_set();
* @see ephysics_quaternion_euler_set();
*
* @ingroup EPhysics_Quaternion
*/
EAPI void ephysics_quaternion_axis_angle_set(EPhysics_Quaternion *quat, double nx, double ny, double nz, double a);
/**
* @brief
* Set quaternion using Euler angles.
*
* It's an alternative to @ref ephysics_quaternion_set() usage. Euler angles
* will be converted.
*
* @param quat Quaternion to be set.
* @param yaw The angle around Y axis.
* @param pitch The angle around X axis.
* @param roll The angle around Z axis.
*
* @see ephysics_quaternion_get();
* @see ephysics_quaternion_set();
*
* @ingroup EPhysics_Quaternion
*/
EAPI void ephysics_quaternion_euler_set(EPhysics_Quaternion *quat, double yaw, double pitch, double roll);
/**
* @brief
* Normalize the quaternion.
*
* A normalized quaternion is such that x^2 + y^2 + z^2 + w^2 = 1.
*
* @param quat Quaternion to be normalized.
*
* @ingroup EPhysics_Quaternion
*/
EAPI void ephysics_quaternion_normalize(EPhysics_Quaternion *quat);
/**
* @brief
* Invert the quaternion.
*
* @param quat Quaternion to be inverted.
*
* @ingroup EPhysics_Quaternion
*/
EAPI void ephysics_quaternion_invert(EPhysics_Quaternion *quat);
/**
* @brief
* Scale the quaternion.
*
* @param quat Quaternion to be scaled.
* @param scale The scale factor.
*
* @see ephysics_quaternion_inverse_scale()
*
* @ingroup EPhysics_Quaternion
*/
EAPI void ephysics_quaternion_scale(EPhysics_Quaternion *quat, double scale);
/**
* @brief
* Inversely scale the quaternion.
*
* @param quat Quaternion to be scaled.
* @param scale The scale factor.
*
* @see ephysics_quaternion_scale()
*
* @ingroup EPhysics_Quaternion
*/
EAPI void ephysics_quaternion_inverse_scale(EPhysics_Quaternion *quat, double scale);
/**
* @brief
* Returns a sum of two quaternions.
*
* @param quat1 First quaternion to sum.
* @param quat2 Second quaternion to sum.
* @return The sum quaternion or @c NULL on error.
*
* @note It should be freed after usage.
*
* @ingroup EPhysics_Quaternion
*/
EAPI EPhysics_Quaternion *ephysics_quaternion_sum(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2);
/**
* @brief
* Returns a difference between two quaternions.
*
* @param quat1 First quaternion.
* @param quat2 Second quaternion.
* @return The difference between @p quat1 and @p quat2, or @c NULL on error.
*
* @note It should be freed after usage.
*
* @ingroup EPhysics_Quaternion
*/
EAPI EPhysics_Quaternion *ephysics_quaternion_diff(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2);
/**
* @brief
* Multiply two quaternions.
*
* @param quat1 First quaternion.
* @param quat2 Second quaternion.
* @return The @p quat1 multiplied by @p quat2 on the right, or @c NULL
* on error.
*
* @note It should be freed after usage.
*
* @ingroup EPhysics_Quaternion
*/
EAPI EPhysics_Quaternion *ephysics_quaternion_multiply(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2);
/**
* @brief
* Return the quaternion which is the result of Spherical Linear Interpolation
* between two quaternions.
*
* Slerp interpolates assuming constant velocity.
*
* @param quat1 First quaternion.
* @param quat2 Second quaternion.
* @param ratio The ratio between @p quat1 and @p quat2 to interpolate. If
* @p ratio = 0, the result is @p quat1, if @p ratio = 1, the result is
* @p quat2.
* @return The result of slerp between @p quat1 and @p quat2, or @c NULL
* on error.
*
* @note It should be freed after usage.
*
* @ingroup EPhysics_Quaternion
*/
EAPI EPhysics_Quaternion *ephysics_quaternion_slerp(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2, double ratio);
/**
* @brief
* Return the dot product between two quaternions.
*
* @param quat1 First quaternion.
* @param quat2 Second quaternion.
* @return The dot product between @p quat1 and @p quat2 or @c 0 on error.
*
* @ingroup EPhysics_Quaternion
*/
EAPI double ephysics_quaternion_dot(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2);
/**
* @brief
* Return the angle between two quaternions.
*
* @param quat1 First quaternion.
* @param quat2 Second quaternion.
* @return The angle between @p quat1 and @p quat2 or @c 0 on error.
*
* @ingroup EPhysics_Quaternion
*/
EAPI double ephysics_quaternion_angle_get(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2);
/**
* @brief
* Return the length of the quaternion.
*
* @param quat Quaternion to get length of.
* @return The lenght of @p quat or @c 0 on error.
*
* @ingroup EPhysics_Quaternion
*/
EAPI double ephysics_quaternion_length_get(const EPhysics_Quaternion *quat);
/**
* @brief
* Return the length squared of the quaternion.
*
* @param quat Quaternion to get length of.
* @return The lenght of @p quat or @c 0 on error.
*
* @ingroup EPhysics_Quaternion
*/
EAPI double ephysics_quaternion_length2_get(const EPhysics_Quaternion *quat);
/**
* @}
*/
@ -3422,61 +3735,36 @@ EAPI void ephysics_body_linear_movement_enable_get(const EPhysics_Body *body, Ei
/**
* @brief
* Get body's rotation on x, y and z axes.
* Get body's rotation quaternion.
*
* By default rotation is 0 degree on all axes.
*
* @note The unit used for rotation is degrees.
*
* @param body The physics body.
* @param rot_x The amount of degrees @p body is rotated on x axis.
* @param rot_y The amount of degrees @p body is rotated on y axis.
* @param rot_z The amount of degrees @p body is rotated on z axis.
* @return A quaternion or @c NULL on error. It should be freed with free()
* after usage.
*
* @see ephysics_body_rotation_set()
* @see ephysics_body_rotation_quaternion_get()
* @see ephysics_quaternion_get()
*
* @ingroup EPhysics_Body
*/
EAPI void ephysics_body_rotation_get(const EPhysics_Body *body, double *rot_x, double *rot_y, double *rot_z);
EAPI EPhysics_Quaternion *ephysics_body_rotation_get(const EPhysics_Body *body);
/**
* @brief
* Set body's rotation on z axis.
* Set body's rotation.
*
* By default rotation is 0 degrees on all axes.
* Negative values indicates rotation on counter clockwise direction.
*
* @note The unit used for rotation is degrees.
*
* @param body The physics body.
* @param rot_x The amount of degrees @p body should be rotated on x axis.
* @param rot_y The amount of degrees @p body should be rotated on y axis.
* @param rot_z The amount of degrees @p body should be rotated on z axis.
* @param quat Quaternion representing the rotation.
*
* @see ephysics_body_rotation_get()
* @see ephysics_quaternion_new()
*
* @ingroup EPhysics_Body
*/
EAPI void ephysics_body_rotation_set(EPhysics_Body *body, double rot_x, double rot_y, double rot_z);
/**
* @brief
* Get body's normalized rotation quaternion (x, y, z and w).
*
* @param body The physics body.
* @param x the x component of the imaginary part of the quaternion.
* @param y the y component of the imaginary part of the quaternion.
* @param z the z component of the imaginary part of the quaternion.
* @param w the w component of the real part of the quaternion.
*
* @see ephysics_body_rotation_set()
* @see ephysics_body_rotation_get()
*
* @ingroup EPhysics_Body
*/
EAPI void
ephysics_body_rotation_quaternion_get(const EPhysics_Body *body, double *x, double *y, double *z, double *w);
EAPI void ephysics_body_rotation_set(EPhysics_Body *body, EPhysics_Quaternion *quat);
/**
* @brief

1
legacy/ephysics/src/lib/Makefile.am
View File

@ -18,6 +18,7 @@ base_sources = \
ephysics_camera.cpp \
ephysics_constraints.cpp \
ephysics_main.cpp \
ephysics_quaternion.cpp \
ephysics_shape.cpp \
ephysics_world.cpp

61
legacy/ephysics/src/lib/ephysics_body.cpp
View File

@ -21,6 +21,7 @@ typedef struct _EPhysics_Body_Callback EPhysics_Body_Callback;
typedef struct _EPhysics_Body_Evas_Stacking EPhysics_Body_Evas_Stacking;
typedef struct _EPhysics_Body_Soft_Body_Slice EPhysics_Body_Soft_Body_Slice;
typedef struct _EPhysics_Body_Face_Obj EPhysics_Body_Face_Obj;
typedef struct _EPhysics_Quaternion EPhysics_Quaternion;
struct _EPhysics_Body_Callback {
EINA_INLIST;
@ -3266,31 +3267,32 @@ ephysics_body_angular_movement_enable_get(const EPhysics_Body *body, Eina_Bool *
if (enable_z) *enable_z = !!body->rigid_body->getAngularFactor().z();
}
EAPI void
ephysics_body_rotation_get(const EPhysics_Body *body, double *rot_x, double *rot_y, double *rot_z)
EAPI EPhysics_Quaternion *
ephysics_body_rotation_get(const EPhysics_Body *body)
{
btScalar yaw, pitch, roll;
EPhysics_Quaternion *quat;
btTransform trans;
if (!body)
{
ERR("Can't get rotation, body is null.");
return;
return NULL;
}
trans = _ephysics_body_transform_get(body);
trans.getBasis().getEulerYPR(yaw, pitch, roll);
if (rot_x) *rot_x = -roll * RAD_TO_DEG;
if (rot_y) *rot_y = -pitch * RAD_TO_DEG;
if (rot_z) *rot_z = -yaw * RAD_TO_DEG;
quat = ephysics_quaternion_new(trans.getRotation().x(),
trans.getRotation().y(),
trans.getRotation().z(),
trans.getRotation().getW());
return quat;
}
EAPI void
ephysics_body_rotation_set(EPhysics_Body *body, double rot_x, double rot_y, double rot_z)
ephysics_body_rotation_set(EPhysics_Body *body, EPhysics_Quaternion *quat)
{
btQuaternion bt_quat;
btTransform trans;
btQuaternion quat;
double x, y, z, w;
if (!body)
{
@ -3298,47 +3300,32 @@ ephysics_body_rotation_set(EPhysics_Body *body, double rot_x, double rot_y, doub
return;
}
if (!quat)
{
ERR("Can't set rotation, quaternion is null.");
return;
}
ephysics_quaternion_get(quat, &x, &y, &z, &w);
ephysics_world_lock_take(body->world);
ephysics_body_activate(body, EINA_TRUE);
quat.setEuler(-rot_y / RAD_TO_DEG, -rot_x / RAD_TO_DEG, -rot_z / RAD_TO_DEG);
bt_quat = btQuaternion(x, y, z, w);
if (body->soft_body)
body->soft_body->rotate(quat);
body->soft_body->rotate(bt_quat);
else
{
trans = _ephysics_body_transform_get(body);
trans.setRotation(quat);
trans.setRotation(bt_quat);
body->rigid_body->proceedToTransform(trans);
body->rigid_body->getMotionState()->setWorldTransform(trans);
}
DBG("Body %p rotation set to (%lf, %lf, %lf)", body, rot_x, rot_y, rot_z);
ephysics_world_lock_release(body->world);
}
EAPI void
ephysics_body_rotation_quaternion_get(const EPhysics_Body *body, double *x, double *y, double *z, double *w)
{
btTransform trans;
btQuaternion quat;
if (!body)
{
ERR("Can't get rotation, body is null.");
return;
}
trans = _ephysics_body_transform_get(body);
quat = trans.getRotation();
quat.normalize();
if (x) *x = quat.x();
if (y) *y = quat.y();
if (z) *z = quat.z();
if (w) *w = -quat.w();
}
EAPI void
ephysics_body_data_set(EPhysics_Body *body, void *data)
{

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#ifdef HAVE_CONFIG_H
# include <config.h>
#endif
#include "ephysics_private.h"
#ifdef __cplusplus
extern "C" {
#endif
struct _EPhysics_Quaternion {
double x;
double y;
double z;
double w;
};
static void
_ephysics_quaternion_update(EPhysics_Quaternion *quat, btQuaternion *bt_quat)
{
quat->x = bt_quat->x();
quat->y = bt_quat->y();
quat->z = bt_quat->z();
quat->w = bt_quat->getW();
}
EAPI EPhysics_Quaternion *
ephysics_quaternion_new(double x, double y, double z, double w)
{
EPhysics_Quaternion *quat;
quat = (EPhysics_Quaternion *)calloc(1, sizeof(EPhysics_Quaternion));
if (!quat)
{
ERR("Could not allocate ephysics quaternion.");
return NULL;
}
quat->x = x;
quat->y = y;
quat->z = z;
quat->w = w;
return quat;
}
EAPI void
ephysics_quaternion_get(const EPhysics_Quaternion *quat, double *x, double *y, double *z, double *w)
{
if (!quat)
{
ERR("Can't get quaternion's values, it is null.");
return;
}
if (x) *x = quat->x;
if (y) *y = quat->y;
if (z) *z = quat->z;
if (w) *w = quat->w;
}
EAPI void
ephysics_quaternion_axis_angle_get(const EPhysics_Quaternion *quat, double *nx, double *ny, double *nz, double *a)
{
btQuaternion bt_quat;
if (!quat)
{
ERR("Can't get quaternion's values, it is null.");
return;
}
bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
if (nx) *nx = bt_quat.getAxis().getX();
if (ny) *ny = bt_quat.getAxis().getY();
if (nz) *nz = bt_quat.getAxis().getZ();
if (a) *a = bt_quat.getAngle();
}
EAPI void
ephysics_quaternion_set(EPhysics_Quaternion *quat, double x, double y, double z, double w)
{
if (!quat)
{
ERR("Could not set a null quaternion.");
return;
}
quat->x = x;
quat->y = y;
quat->z = z;
quat->w = w;
}
EAPI void
ephysics_quaternion_axis_angle_set(EPhysics_Quaternion *quat, double nx, double ny, double nz, double a)
{
btQuaternion bt_quat;
btVector3 axis;
if (!quat)
{
ERR("Could not set a null quaternion.");
return;
}
axis = btVector3(nx, ny, nz);
bt_quat = btQuaternion(axis, a);
_ephysics_quaternion_update(quat, &bt_quat);
}
EAPI void
ephysics_quaternion_euler_set(EPhysics_Quaternion *quat, double yaw, double pitch, double roll)
{
btQuaternion bt_quat;
if (!quat)
{
ERR("Could not set a null quaternion.");
return;
}
bt_quat = btQuaternion();
bt_quat.setEuler(yaw, pitch, roll);
_ephysics_quaternion_update(quat, &bt_quat);
}
EAPI void
ephysics_quaternion_normalize(EPhysics_Quaternion *quat)
{
btQuaternion bt_quat;
if (!quat)
{
ERR("Can't normalize a null quaternion.");
return;
}
bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
bt_quat.normalize();
_ephysics_quaternion_update(quat, &bt_quat);
}
EAPI void
ephysics_quaternion_invert(EPhysics_Quaternion *quat)
{
btQuaternion bt_quat;
if (!quat)
{
ERR("Can't normalize a null quaternion.");
return;
}
bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
bt_quat.inverse();
_ephysics_quaternion_update(quat, &bt_quat);
}
EAPI void
ephysics_quaternion_scale(EPhysics_Quaternion *quat, double scale)
{
btQuaternion bt_quat;
if (!quat)
{
ERR("Can't operate over a null quaternion.");
return;
}
bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
bt_quat *= scale;
_ephysics_quaternion_update(quat, &bt_quat);
}
EAPI void
ephysics_quaternion_inverse_scale(EPhysics_Quaternion *quat, double scale)
{
btQuaternion bt_quat;
if (!quat)
{
ERR("Can't operate over a null quaternion.");
return;
}
bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
bt_quat /= scale;
_ephysics_quaternion_update(quat, &bt_quat);
}
EAPI EPhysics_Quaternion *
ephysics_quaternion_sum(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2)
{
btQuaternion bt_quat1, bt_quat2, bt_quat;
if ((!quat1) || (!quat2))
{
ERR("Can't operate over null quaternions.");
return NULL;
}
bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
bt_quat = bt_quat1 + bt_quat2;
return ephysics_quaternion_new(bt_quat.x(), bt_quat.y(), bt_quat.z(),
bt_quat.getW());
}
EAPI EPhysics_Quaternion *
ephysics_quaternion_diff(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2)
{
btQuaternion bt_quat1, bt_quat2, bt_quat;
if ((!quat1) || (!quat2))
{
ERR("Can't operate over null quaternions.");
return NULL;
}
bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
bt_quat = bt_quat1 - bt_quat2;
return ephysics_quaternion_new(bt_quat.x(), bt_quat.y(), bt_quat.z(),
bt_quat.getW());
}
EAPI EPhysics_Quaternion *
ephysics_quaternion_multiply(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2)
{
btQuaternion bt_quat1, bt_quat2, bt_quat;
if ((!quat1) || (!quat2))
{
ERR("Can't operate over null quaternions.");
return NULL;
}
bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
bt_quat = bt_quat1 * bt_quat2;
return ephysics_quaternion_new(bt_quat.x(), bt_quat.y(), bt_quat.z(),
bt_quat.getW());
}
EAPI EPhysics_Quaternion *
ephysics_quaternion_slerp(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2, double ratio)
{
btQuaternion bt_quat1, bt_quat2;
if ((!quat1) || (!quat2))
{
ERR("Can't operate over null quaternions.");
return NULL;
}
bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
bt_quat1.slerp(bt_quat2, ratio);
return ephysics_quaternion_new(bt_quat1.x(), bt_quat1.y(), bt_quat1.z(),
bt_quat1.getW());
}
EAPI double
ephysics_quaternion_dot(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2)
{
btQuaternion bt_quat1, bt_quat2;
if ((!quat1) || (!quat2))
{
ERR("Can't operate over null quaternions.");
return 0;
}
bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
return bt_quat1.dot(bt_quat2);
}
EAPI double
ephysics_quaternion_angle_get(const EPhysics_Quaternion *quat1, const EPhysics_Quaternion *quat2)
{
btQuaternion bt_quat1, bt_quat2;
if ((!quat1) || (!quat2))
{
ERR("Can't operate over null quaternions.");
return 0;
}
bt_quat1 = btQuaternion(quat1->x, quat1->y, quat1->z, quat1->w);
bt_quat2 = btQuaternion(quat2->x, quat2->y, quat2->z, quat2->w);
return bt_quat1.angle(bt_quat2);
}
EAPI double
ephysics_quaternion_length_get(const EPhysics_Quaternion *quat)
{
btQuaternion bt_quat;
if (!quat)
{
ERR("Can't operate over a null quaternion.");
return 0;
}
bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
return bt_quat.length();
}
EAPI double
ephysics_quaternion_length2_get(const EPhysics_Quaternion *quat)
{
btQuaternion bt_quat;
if (!quat)
{
ERR("Can't operate over a null quaternion.");
return 0;
}
bt_quat = btQuaternion(quat->x, quat->y, quat->z, quat->w);
return bt_quat.length2();
}
#ifdef __cplusplus
}
#endif