forked from enlightenment/efl
eina: beginning of a generic quaternion API.
This commit is contained in:
Cedric BAIL
parent
c937aab8c0
commit
0acf23857f
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@ -90,7 +90,8 @@ lib/eina/eina_matrix.h \
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lib/eina/eina_quad.h \
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lib/eina/eina_crc.h \
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lib/eina/eina_evlog.h \
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lib/eina/eina_util.h
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lib/eina/eina_util.h \
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lib/eina/eina_quaternion.h
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lib_eina_libeina_la_SOURCES = \
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lib/eina/eina_abi.c \
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@ -158,7 +159,8 @@ lib/eina/eina_xattr.c \
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lib/eina/eina_debug.h \
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lib/eina/eina_private.h \
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lib/eina/eina_share_common.h \
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lib/eina/eina_strbuf_common.h
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lib/eina/eina_strbuf_common.h \
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lib/eina/eina_quaternion.c
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if HAVE_WIN32
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lib_eina_libeina_la_SOURCES += lib/eina/eina_file_win32.c
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@ -311,7 +313,8 @@ tests/eina/eina_test_lock.c \
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tests/eina/eina_test_xattr.c \
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tests/eina/eina_test_crc.c \
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tests/eina/eina_test_quad.c \
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tests/eina/eina_test_matrix.c
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tests/eina/eina_test_matrix.c \
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tests/eina/eina_test_quaternion.c
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tests_eina_eina_suite_CPPFLAGS = -I$(top_builddir)/src/lib/efl \
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-DTESTS_WD=\"`pwd`\" \
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@ -266,6 +266,7 @@ extern "C" {
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#include <eina_crc.h>
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#include <eina_evlog.h>
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#include <eina_util.h>
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#include <eina_quaternion.h>
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#undef EAPI
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#define EAPI
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@ -0,0 +1,609 @@
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/* EINA - Drawing Library
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* Copyright (C) 2007-2014 Jorge Luis Zapata
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*
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* This library is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* This library is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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* Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with this library.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifdef HAVE_CONFIG_H
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# include "config.h"
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#endif
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#include "eina_private.h"
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#include <math.h>
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#include "eina_fp.h"
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#include "eina_matrix.h"
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#include "eina_quaternion.h"
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EAPI Eina_F16p16
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eina_quaternion_f16p16_norm(const Eina_Quaternion_F16p16 *q)
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{
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Eina_F16p16 s;
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s = eina_f16p16_add(eina_f16p16_add(eina_f16p16_mul(q->w, q->w),
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eina_f16p16_mul(q->x, q->x)),
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eina_f16p16_add(eina_f16p16_mul(q->y, q->y),
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eina_f16p16_mul(q->z, q->z)));
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return eina_f16p16_sqrt(s);
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}
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EAPI void
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eina_quaternion_f16p16_negative(Eina_Quaternion_F16p16 *out,
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const Eina_Quaternion_F16p16 *in)
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{
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out->w = eina_f16p16_sub(0, in->w);
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out->x = eina_f16p16_sub(0, in->x);
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out->y = eina_f16p16_sub(0, in->y);
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out->z = eina_f16p16_sub(0, in->z);
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}
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EAPI void
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eina_quaternion_f16p16_add(Eina_Quaternion_F16p16 *out,
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const Eina_Quaternion_F16p16 *a,
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const Eina_Quaternion_F16p16 *b)
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{
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out->w = eina_f16p16_add(a->w, b->w);
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out->x = eina_f16p16_add(a->x, b->x);
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out->y = eina_f16p16_add(a->y, b->y);
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out->z = eina_f16p16_add(a->z, b->z);
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}
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EAPI void
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eina_quaternion_f16p16_mul(Eina_Quaternion_F16p16 *out,
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const Eina_Quaternion_F16p16 *a,
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const Eina_Quaternion_F16p16 *b)
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{
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out->w = eina_f16p16_sub(eina_f16p16_sub(eina_f16p16_mul(a->w, b->w),
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eina_f16p16_mul(a->x, b->x)),
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eina_f16p16_sub(eina_f16p16_mul(a->y, b->y),
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eina_f16p16_mul(a->z, b->z)));
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out->x = eina_f16p16_add(eina_f16p16_add(eina_f16p16_mul(a->w, b->x),
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eina_f16p16_mul(a->x, b->w)),
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eina_f16p16_sub(eina_f16p16_mul(a->y, b->z),
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eina_f16p16_mul(a->z, b->y)));
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out->y = eina_f16p16_add(eina_f16p16_sub(eina_f16p16_mul(a->w, b->y),
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eina_f16p16_mul(a->x, b->z)),
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eina_f16p16_add(eina_f16p16_mul(a->y, b->w),
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eina_f16p16_mul(a->z, b->x)));
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out->z = eina_f16p16_add(eina_f16p16_add(eina_f16p16_mul(a->w, b->z),
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eina_f16p16_mul(a->x, b->y)),
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eina_f16p16_sub(eina_f16p16_mul(a->z, b->w),
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eina_f16p16_mul(a->y, b->y)));
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}
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EAPI void
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eina_quaternion_f16p16_scale(Eina_Quaternion_F16p16 *out,
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const Eina_Quaternion_F16p16 *a,
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Eina_F16p16 b)
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{
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out->w = eina_f16p16_scale(a->w, b);
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out->x = eina_f16p16_scale(a->x, b);
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out->y = eina_f16p16_scale(a->y, b);
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out->z = eina_f16p16_scale(a->z, b);
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}
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EAPI void
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eina_quaternion_f16p16_conjugate(Eina_Quaternion_F16p16 *out,
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const Eina_Quaternion_F16p16 *in)
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{
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out->w = in->w;
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out->x = eina_f16p16_sub(0, in->x);
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out->y = eina_f16p16_sub(0, in->y);
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out->z = eina_f16p16_sub(0, in->z);
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}
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EAPI Eina_F16p16
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eina_quaternion_f16p16_dot(const Eina_Quaternion_F16p16 *a,
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const Eina_Quaternion_F16p16 *b)
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{
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return eina_f16p16_add(eina_f16p16_add(eina_f16p16_mul(a->w, b->w),
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eina_f16p16_mul(a->x, b->x)),
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eina_f16p16_add(eina_f16p16_mul(a->y, b->y),
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eina_f16p16_mul(a->z, b->z)));
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}
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EAPI void
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eina_quaternion_f16p16_normalized(Eina_Quaternion_F16p16 *out,
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const Eina_Quaternion_F16p16 *in)
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{
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Eina_F16p16 norm;
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norm = eina_quaternion_f16p16_norm(in);
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eina_quaternion_f16p16_scale(out, in,
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eina_f16p16_div(eina_f16p16_int_from(1),
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norm));
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}
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EAPI void
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eina_quaternion_f16p16_lerp(Eina_Quaternion_F16p16 *out,
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const Eina_Quaternion_F16p16 *a,
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const Eina_Quaternion_F16p16 *b,
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Eina_F16p16 pos)
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{
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if (pos == 0)
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{
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*out = *a;
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return ;
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}
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else if (pos == eina_f16p16_int_from(1))
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{
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*out = *b;
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return ;
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}
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out->w = eina_f16p16_add(a->w,
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eina_f16p16_mul(eina_f16p16_sub(b->w, a->w),
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pos));
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out->x = eina_f16p16_add(a->x,
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eina_f16p16_mul(eina_f16p16_sub(b->x, a->x),
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pos));
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out->y = eina_f16p16_add(a->y,
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eina_f16p16_mul(eina_f16p16_sub(b->y, a->y),
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pos));
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out->z = eina_f16p16_add(a->z,
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eina_f16p16_mul(eina_f16p16_sub(b->z, a->z),
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pos));
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}
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EAPI void
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eina_quaternion_f16p16_slerp(Eina_Quaternion_F16p16 *out,
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const Eina_Quaternion_F16p16 *a,
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const Eina_Quaternion_F16p16 *b,
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Eina_F16p16 pos)
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{
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Eina_Quaternion_F16p16 bp;
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Eina_Quaternion_F16p16 left, right;
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Eina_F16p16 dot;
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Eina_F16p16 pos1, pos2;
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if (pos == 0)
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{
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*out = *a;
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return ;
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}
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else if (pos == eina_f16p16_int_from(1))
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{
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*out = *b;
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return ;
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}
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dot = eina_quaternion_f16p16_dot(a, b);
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if (dot >= eina_f16p16_int_from(0))
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{
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bp = *b;
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}
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else
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{
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eina_quaternion_f16p16_negative(&bp, b);
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dot = eina_f16p16_sub(0, dot);
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}
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pos1 = eina_f16p16_sub(eina_f16p16_int_from(1), pos);
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pos2 = pos;
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if (eina_f16p16_sub(eina_f16p16_int_from(1), dot) > eina_f16p16_float_from(0.0000001))
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{
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Eina_F32p32 angle;
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Eina_F16p16 sangle;
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angle = eina_f32p32_double_from(acos(eina_f16p16_double_to(dot)));
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sangle = eina_f32p32_to_f16p16(eina_f32p32_sin(angle));
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if (sangle > eina_f16p16_float_from(0.0000001))
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{
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pos1 = eina_f32p32_to_f16p16(eina_f32p32_div(eina_f32p32_sin(eina_f32p32_mul(eina_f16p16_to_f32p32(pos1), angle)),
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eina_f16p16_to_f32p32(sangle)));
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pos2 = eina_f32p32_to_f16p16(eina_f32p32_div(eina_f32p32_sin(eina_f32p32_mul(eina_f16p16_to_f32p32(pos2), angle)),
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eina_f16p16_to_f32p32(sangle)));
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}
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}
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eina_quaternion_f16p16_scale(&left, a, pos1);
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eina_quaternion_f16p16_scale(&right, b, pos2);
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eina_quaternion_f16p16_add(out, &left, &right);
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}
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EAPI void
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eina_quaternion_f16p16_nlerp(Eina_Quaternion_F16p16 *out,
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const Eina_Quaternion_F16p16 *a,
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const Eina_Quaternion_F16p16 *b,
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Eina_F16p16 pos)
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{
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Eina_Quaternion_F16p16 bp, left, right;
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Eina_Quaternion_F16p16 not_normalize;
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double dot;
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if (pos == 0)
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{
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*out = *a;
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return ;
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}
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else if (pos == eina_f16p16_int_from(1))
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{
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*out = *b;
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return ;
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}
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dot = eina_quaternion_f16p16_dot(a, b);
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if (dot >= eina_f16p16_int_from(0))
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{
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bp = *b;
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}
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else
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{
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eina_quaternion_f16p16_negative(&bp, b);
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dot = -dot;
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}
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eina_quaternion_f16p16_scale(&left, a,
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eina_f16p16_sub(eina_f16p16_int_from(1), pos));
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eina_quaternion_f16p16_scale(&right, b, pos);
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eina_quaternion_f16p16_add(¬_normalize, &left, &right);
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eina_quaternion_f16p16_normalized(out, ¬_normalize);
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}
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EAPI void
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eina_quaternion_f16p16_rotate(Eina_Point_3D_F16p16 *p,
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const Eina_Point_3D_F16p16 *center,
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const Eina_Quaternion_F16p16 *q)
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{
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const Eina_Point_3D_F16p16 zero = { 0, 0, 0 };
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Eina_F16p16 x, y, z;
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Eina_F16p16 uvx, uvy, uvz;
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Eina_F16p16 uuvx, uuvy, uuvz;
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if (!center) center = &zero;
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x = eina_f16p16_sub(p->x, center->x);
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y = eina_f16p16_sub(p->y, center->y);
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z = eina_f16p16_sub(p->z, center->z);
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uvx = eina_f16p16_sub(eina_f16p16_mul(q->y, z),
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eina_f16p16_mul(q->z, y));
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uvy = eina_f16p16_sub(eina_f16p16_mul(q->z, x),
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eina_f16p16_mul(q->x, z));
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uvz = eina_f16p16_sub(eina_f16p16_mul(q->x, y),
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eina_f16p16_mul(q->y, x));
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uuvx = eina_f16p16_sub(eina_f16p16_mul(q->y, uvz),
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eina_f16p16_mul(q->z, uvy));
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uuvy = eina_f16p16_sub(eina_f16p16_mul(q->z, uvx),
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eina_f16p16_mul(q->x, uvz));
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uuvz = eina_f16p16_sub(eina_f16p16_mul(q->x, uvy),
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eina_f16p16_mul(q->y, uvx));
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uvx = eina_f16p16_mul(eina_f16p16_scale(q->w, 2), uvx);
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uvy = eina_f16p16_mul(eina_f16p16_scale(q->w, 2), uvy);
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uvz = eina_f16p16_mul(eina_f16p16_scale(q->w, 2), uvz);
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uuvx = eina_f16p16_scale(uuvx, 2);
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uuvy = eina_f16p16_scale(uuvy, 2);
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uuvz = eina_f16p16_scale(uuvz, 2);
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p->x = eina_f16p16_add(eina_f16p16_add(center->x, x),
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eina_f16p16_add(uvx, uuvx));
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p->y = eina_f16p16_add(eina_f16p16_add(center->y, y),
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eina_f16p16_add(uvy, uuvy));
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p->z = eina_f16p16_add(eina_f16p16_add(center->z, z),
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eina_f16p16_add(uvz, uuvz));
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}
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EAPI void
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eina_quaternion_f16p16_rotation_matrix3_get(Eina_Matrix3_F16p16 *m,
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const Eina_Quaternion_F16p16 *q)
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{
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Eina_F16p16 x, y, z;
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Eina_F16p16 xx, xy, xz;
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Eina_F16p16 yy, yz;
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Eina_F16p16 zz;
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Eina_F16p16 wx, wy, wz;
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x = eina_f16p16_scale(q->x, 2);
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y = eina_f16p16_scale(q->y, 2);
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z = eina_f16p16_scale(q->z, 2);
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xx = eina_f16p16_mul(q->x, x);
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xy = eina_f16p16_mul(q->x, y);
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xz = eina_f16p16_mul(q->x, z);
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yy = eina_f16p16_mul(q->y, y);
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yz = eina_f16p16_mul(q->y, z);
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zz = eina_f16p16_mul(q->z, z);
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wx = eina_f16p16_mul(q->w, x);
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wy = eina_f16p16_mul(q->w, y);
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wz = eina_f16p16_mul(q->w, z);
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m->xx = eina_f16p16_sub(eina_f16p16_int_to(1),
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eina_f16p16_add(yy, zz));
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m->xy = eina_f16p16_add(xy, wz);
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m->xz = eina_f16p16_sub(xz, wy);
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m->yx = eina_f16p16_sub(xy, wz);
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m->yy = eina_f16p16_sub(eina_f16p16_int_to(1),
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eina_f16p16_add(xx, zz));
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m->yz = eina_f16p16_add(yz, wx);
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m->zx = eina_f16p16_add(xz, wy);
|
||||
m->zy = eina_f16p16_add(yz, wx);
|
||||
m->zz = eina_f16p16_sub(eina_f16p16_int_to(1),
|
||||
eina_f16p16_add(xx, yy));
|
||||
}
|
||||
|
||||
EAPI double
|
||||
eina_quaternion_norm(const Eina_Quaternion *q)
|
||||
{
|
||||
double s;
|
||||
|
||||
s = q->w * q->w + q->x * q->x + q->y * q->y + q->z * q->z;
|
||||
|
||||
return sqrt(s);
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_negative(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *in)
|
||||
{
|
||||
out->w = - in->w;
|
||||
out->x = - in->x;
|
||||
out->y = - in->y;
|
||||
out->z = - in->z;
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_add(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b)
|
||||
{
|
||||
out->w = a->w + b->w;
|
||||
out->x = a->x + b->x;
|
||||
out->y = a->y + b->y;
|
||||
out->z = a->z + b->z;
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_mul(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b)
|
||||
{
|
||||
out->w = a->w * b->w - a->x * b->x - a->y * b->y - a->z * b->z;
|
||||
out->x = a->w * b->x + a->x * b->w + a->y * b->z - a->z * b->y;
|
||||
out->y = a->w * b->y - a->x * b->z + a->y * b->w + a->z * b->x;
|
||||
out->z = a->w * b->z + a->x * b->y - a->y * b->y + a->z * b->w;
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_scale(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
double b)
|
||||
{
|
||||
out->w = a->w * b;
|
||||
out->x = a->x * b;
|
||||
out->y = a->y * b;
|
||||
out->z = a->z * b;
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_conjugate(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *in)
|
||||
{
|
||||
out->w = in->w;
|
||||
out->x = - in->x;
|
||||
out->y = - in->y;
|
||||
out->z = - in->z;
|
||||
}
|
||||
|
||||
EAPI double
|
||||
eina_quaternion_dot(const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b)
|
||||
{
|
||||
return a->w * b->w + a->x * b->x + a->y * b->y + a->z * b->z;
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_normalized(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *in)
|
||||
{
|
||||
double norm;
|
||||
|
||||
norm = eina_quaternion_norm(in);
|
||||
eina_quaternion_scale(out, in, 1.0 / norm);
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_lerp(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b,
|
||||
double pos)
|
||||
{
|
||||
if (pos == 0)
|
||||
{
|
||||
*out = *a;
|
||||
return ;
|
||||
}
|
||||
else if (pos == 1.0)
|
||||
{
|
||||
*out = *b;
|
||||
return ;
|
||||
}
|
||||
|
||||
out->w = a->w + pos * (b->w - a->w);
|
||||
out->x = a->x + pos * (b->x - a->x);
|
||||
out->y = a->y + pos * (b->y - a->y);
|
||||
out->z = a->z + pos * (b->z - a->z);
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_slerp(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b,
|
||||
double pos)
|
||||
{
|
||||
Eina_Quaternion bp;
|
||||
Eina_Quaternion left, right;
|
||||
double dot;
|
||||
double pos1, pos2;
|
||||
|
||||
if (pos == 0)
|
||||
{
|
||||
*out = *a;
|
||||
return ;
|
||||
}
|
||||
else if (pos == 1.0)
|
||||
{
|
||||
*out = *b;
|
||||
return ;
|
||||
}
|
||||
|
||||
dot = eina_quaternion_dot(a, b);
|
||||
if (dot >= 0)
|
||||
{
|
||||
bp = *b;
|
||||
}
|
||||
else
|
||||
{
|
||||
eina_quaternion_negative(&bp, b);
|
||||
dot = -dot;
|
||||
}
|
||||
|
||||
pos1 = 1.0 - pos;
|
||||
pos2 = pos;
|
||||
if ((1.0 - dot) > 0.0000001)
|
||||
{
|
||||
double angle;
|
||||
double sangle;
|
||||
|
||||
angle = acos(dot);
|
||||
sangle = sin(angle);
|
||||
if (sangle > 0.0000001)
|
||||
{
|
||||
pos1 = sin(pos1 * angle) / sangle;
|
||||
pos2 = sin(pos2 * angle) / sangle;
|
||||
}
|
||||
}
|
||||
|
||||
eina_quaternion_scale(&left, a, pos1);
|
||||
eina_quaternion_scale(&right, b, pos2);
|
||||
eina_quaternion_add(out, &left, &right);
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_nlerp(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b,
|
||||
double pos)
|
||||
{
|
||||
Eina_Quaternion bp, left, right;
|
||||
Eina_Quaternion not_normalize;
|
||||
double dot;
|
||||
|
||||
if (pos == 0)
|
||||
{
|
||||
*out = *a;
|
||||
return ;
|
||||
}
|
||||
else if (pos == 1.0)
|
||||
{
|
||||
*out = *b;
|
||||
return ;
|
||||
}
|
||||
|
||||
dot = eina_quaternion_dot(a, b);
|
||||
if (dot >= 0)
|
||||
{
|
||||
bp = *b;
|
||||
}
|
||||
else
|
||||
{
|
||||
eina_quaternion_negative(&bp, b);
|
||||
dot = -dot;
|
||||
}
|
||||
|
||||
eina_quaternion_scale(&left, a, 1.0 - pos);
|
||||
eina_quaternion_scale(&right, b, pos);
|
||||
eina_quaternion_add(¬_normalize, &left, &right);
|
||||
eina_quaternion_normalized(out, ¬_normalize);
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_rotate(Eina_Point_3D *p,
|
||||
const Eina_Point_3D *center,
|
||||
const Eina_Quaternion *q)
|
||||
{
|
||||
double x, y, z;
|
||||
double uvx, uvy, uvz;
|
||||
double uuvx, uuvy, uuvz;
|
||||
|
||||
x = p->x - center->x;
|
||||
y = p->y - center->y;
|
||||
z = p->z - center->z;
|
||||
|
||||
uvx = q->y * z - q->z * y;
|
||||
uvy = q->z * x - q->x * z;
|
||||
uvz = q->x * y - q->y * x;
|
||||
|
||||
uuvx = q->y * uvz - q->z * uvy;
|
||||
uuvy = q->z * uvx - q->x * uvz;
|
||||
uuvz = q->x * uvy - q->y * uvx;
|
||||
|
||||
uvx *= (2.0f * q->w);
|
||||
uvy *= (2.0f * q->w);
|
||||
uvz *= (2.0f * q->w);
|
||||
|
||||
uuvx *= 2.0f;
|
||||
uuvy *= 2.0f;
|
||||
uuvz *= 2.0f;
|
||||
|
||||
p->x = center->x + x + uvx + uuvx;
|
||||
p->y = center->y + y + uvy + uuvy;
|
||||
p->z = center->z + z + uvz + uuvz;
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_quaternion_rotation_matrix3_get(Eina_Matrix3 *m,
|
||||
const Eina_Quaternion *q)
|
||||
{
|
||||
double x, y, z;
|
||||
double xx, xy, xz;
|
||||
double yy, yz;
|
||||
double zz;
|
||||
double wx, wy, wz;
|
||||
|
||||
x = 2.0 * q->x;
|
||||
y = 2.0 * q->y;
|
||||
z = 2.0 * q->z;
|
||||
|
||||
xx = q->x * x;
|
||||
xy = q->x * y;
|
||||
xz = q->x * z;
|
||||
yy = q->y * y;
|
||||
yz = q->y * z;
|
||||
zz = q->z * z;
|
||||
wx = q->w * x;
|
||||
wy = q->w * y;
|
||||
wz = q->w * z;
|
||||
|
||||
m->xx = 1.0 - yy - zz;
|
||||
m->xy = xy + wz;
|
||||
m->xz = xz - wy;
|
||||
m->yx = xy - wz;
|
||||
m->yy = 1.0 - xx - zz;
|
||||
m->yz = yz + wx;
|
||||
m->zx = xz + wy;
|
||||
m->zy = yz - wx;
|
||||
m->zz = 1.0 - xx - yy;
|
||||
}
|
||||
|
||||
EAPI void
|
||||
eina_matrix3_quaternion_get(Eina_Quaternion *q,
|
||||
const Eina_Matrix3 *m)
|
||||
{
|
||||
}
|
||||
|
|
@ -0,0 +1,128 @@
|
|||
/* EINA - EFL data type library
|
||||
* Copyright (C) 2015 Cedric Bail
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library 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
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library.
|
||||
* If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
#ifndef EINA_QUATERNION_H_
|
||||
#define EINA_QUATERNION_H_
|
||||
|
||||
typedef struct _Eina_Quaternion_F16p16 Eina_Quaternion_F16p16;
|
||||
typedef struct _Eina_Quaternion Eina_Quaternion;
|
||||
typedef struct _Eina_Point_3D Eina_Point_3D;
|
||||
typedef struct _Eina_Point_3D_F16p16 Eina_Point_3D_F16p16;
|
||||
|
||||
struct _Eina_Quaternion
|
||||
{
|
||||
double x;
|
||||
double y;
|
||||
double z;
|
||||
double w;
|
||||
};
|
||||
|
||||
struct _Eina_Quaternion_F16p16
|
||||
{
|
||||
Eina_F16p16 x;
|
||||
Eina_F16p16 y;
|
||||
Eina_F16p16 z;
|
||||
Eina_F16p16 w;
|
||||
};
|
||||
|
||||
struct _Eina_Point_3D
|
||||
{
|
||||
double x;
|
||||
double y;
|
||||
double z;
|
||||
};
|
||||
|
||||
struct _Eina_Point_3D_F16p16
|
||||
{
|
||||
Eina_F16p16 x;
|
||||
Eina_F16p16 y;
|
||||
Eina_F16p16 z;
|
||||
};
|
||||
|
||||
EAPI Eina_F16p16 eina_quaternion_f16p16_norm(const Eina_Quaternion_F16p16 *q);
|
||||
EAPI void eina_quaternion_f16p16_negative(Eina_Quaternion_F16p16 *out,
|
||||
const Eina_Quaternion_F16p16 *in);
|
||||
EAPI void eina_quaternion_f16p16_add(Eina_Quaternion_F16p16 *out,
|
||||
const Eina_Quaternion_F16p16 *a,
|
||||
const Eina_Quaternion_F16p16 *b);
|
||||
EAPI void eina_quaternion_f16p16_mul(Eina_Quaternion_F16p16 *out,
|
||||
const Eina_Quaternion_F16p16 *a,
|
||||
const Eina_Quaternion_F16p16 *b);
|
||||
EAPI void eina_quaternion_f16p16_scale(Eina_Quaternion_F16p16 *out,
|
||||
const Eina_Quaternion_F16p16 *a,
|
||||
Eina_F16p16 b);
|
||||
EAPI void eina_quaternion_f16p16_conjugate(Eina_Quaternion_F16p16 *out,
|
||||
const Eina_Quaternion_F16p16 *in);
|
||||
EAPI Eina_F16p16 eina_quaternion_f16p16_dot(const Eina_Quaternion_F16p16 *a,
|
||||
const Eina_Quaternion_F16p16 *b);
|
||||
EAPI void eina_quaternion_f16p16_lerp(Eina_Quaternion_F16p16 *out,
|
||||
const Eina_Quaternion_F16p16 *a,
|
||||
const Eina_Quaternion_F16p16 *b,
|
||||
Eina_F16p16 pos);
|
||||
EAPI void eina_quaternion_f16p16_slerp(Eina_Quaternion_F16p16 *out,
|
||||
const Eina_Quaternion_F16p16 *a,
|
||||
const Eina_Quaternion_F16p16 *b,
|
||||
Eina_F16p16 pos);
|
||||
EAPI void eina_quaternion_f16p16_nlerp(Eina_Quaternion_F16p16 *out,
|
||||
const Eina_Quaternion_F16p16 *a,
|
||||
const Eina_Quaternion_F16p16 *b,
|
||||
Eina_F16p16 pos);
|
||||
EAPI void eina_quaternion_f16p16_rotate(Eina_Point_3D_F16p16 *p,
|
||||
const Eina_Point_3D_F16p16 *center,
|
||||
const Eina_Quaternion_F16p16 *q);
|
||||
EAPI void eina_quaternion_f16p16_rotation_matri3_get(Eina_Matrix3_F16p16 *m,
|
||||
const Eina_Quaternion_F16p16 *q);
|
||||
|
||||
EAPI double eina_quaternion_norm(const Eina_Quaternion *q);
|
||||
EAPI void eina_quaternion_negative(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *in);
|
||||
EAPI void eina_quaternion_add(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b);
|
||||
EAPI void eina_quaternion_mul(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b);
|
||||
EAPI void eina_quaternion_scale(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
double b);
|
||||
EAPI void eina_quaternion_conjugate(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *in);
|
||||
EAPI double eina_quaternion_dot(const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b);
|
||||
EAPI void eina_quaternion_normalized(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *in);
|
||||
EAPI void eina_quaternion_lerp(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b,
|
||||
double pos);
|
||||
EAPI void eina_quaternion_slerp(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b,
|
||||
double pos);
|
||||
EAPI void eina_quaternion_nlerp(Eina_Quaternion *out,
|
||||
const Eina_Quaternion *a,
|
||||
const Eina_Quaternion *b,
|
||||
double pos);
|
||||
EAPI void eina_quaternion_rotate(Eina_Point_3D *p,
|
||||
const Eina_Point_3D *center,
|
||||
const Eina_Quaternion *q);
|
||||
EAPI void eina_quaternion_rotation_matrix3_get(Eina_Matrix3 *m,
|
||||
const Eina_Quaternion *q);
|
||||
EAPI void eina_matrix3_quaternion_get(Eina_Quaternion *q,
|
||||
const Eina_Matrix3 *m);
|
||||
|
||||
#endif
|
||||
|
|
@ -1047,6 +1047,9 @@ EAPI void
|
|||
evas_map_util_quat_rotate(Evas_Map *m, double qx, double qy, double qz,
|
||||
double qw, double cx, double cy, double cz)
|
||||
{
|
||||
Eina_Quaternion q;
|
||||
Eina_Point_3D c;
|
||||
|
||||
MAGIC_CHECK(m, Evas_Map, MAGIC_MAP);
|
||||
return;
|
||||
MAGIC_CHECK_END();
|
||||
|
|
@ -1056,33 +1059,28 @@ evas_map_util_quat_rotate(Evas_Map *m, double qx, double qy, double qz,
|
|||
p = m->points;
|
||||
p_end = p + m->count;
|
||||
|
||||
q.x = qx;
|
||||
q.y = qy;
|
||||
q.z = qz;
|
||||
q.w = qw;
|
||||
|
||||
c.x = cx;
|
||||
c.y = cy;
|
||||
c.z = cz;
|
||||
|
||||
for (; p < p_end; p++)
|
||||
{
|
||||
double x, y, z, uvx, uvy, uvz, uuvx, uuvy, uuvz;
|
||||
Eina_Point_3D current;
|
||||
|
||||
x = p->x - cx;
|
||||
y = p->y - cy;
|
||||
z = p->z - cz;
|
||||
current.x = p->x;
|
||||
current.y = p->y;
|
||||
current.z = p->z;
|
||||
|
||||
uvx = qy * z - qz * y;
|
||||
uvy = qz * x - qx * z;
|
||||
uvz = qx * y - qy * x;
|
||||
eina_quaternion_rotate(¤t, &c, &q);
|
||||
|
||||
uuvx = qy * uvz - qz * uvy;
|
||||
uuvy = qz * uvx - qx * uvz;
|
||||
uuvz = qx * uvy - qy * uvx;
|
||||
|
||||
uvx *= (2.0f * qw);
|
||||
uvy *= (2.0f * qw);
|
||||
uvz *= (2.0f * qw);
|
||||
|
||||
uuvx *= 2.0f;
|
||||
uuvy *= 2.0f;
|
||||
uuvz *= 2.0f;
|
||||
|
||||
p->px = p->x = cx + x + uvx + uuvx;
|
||||
p->py = p->y = cy + y + uvy + uuvy;
|
||||
p->z = cz + z + uvz + uuvz;
|
||||
p->px = p->x = current.x;
|
||||
p->py = p->y = current.y;
|
||||
p->z = current.z;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -0,0 +1,133 @@
|
|||
/* EINA - EFL data type library
|
||||
* Copyright (C) 2015 Cedric Bail
|
||||
*
|
||||
* This library is free software; you can redistribute it and/or
|
||||
* modify it under the terms of the GNU Lesser General Public
|
||||
* License as published by the Free Software Foundation; either
|
||||
* version 2.1 of the License, or (at your option) any later version.
|
||||
*
|
||||
* This library 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
|
||||
* Lesser General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU Lesser General Public
|
||||
* License along with this library;
|
||||
* if not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#ifdef HAVE_CONFIG_H
|
||||
# include "config.h"
|
||||
#endif
|
||||
|
||||
#include <math.h>
|
||||
#include <float.h>
|
||||
#include <limits.h>
|
||||
|
||||
#include "eina_suite.h"
|
||||
#include "Eina.h"
|
||||
|
||||
#define FLOAT_CMP(a, b) (fabs(a - b) <= DBL_MIN)
|
||||
|
||||
static inline Eina_Bool
|
||||
eina_quaternion_cmp(const Eina_Quaternion *a, const Eina_Quaternion *b)
|
||||
{
|
||||
if (FLOAT_CMP(a->x, b->x) &&
|
||||
FLOAT_CMP(a->y, b->y) &&
|
||||
FLOAT_CMP(a->z, b->z) &&
|
||||
FLOAT_CMP(a->w, b->w))
|
||||
return EINA_TRUE;
|
||||
return EINA_FALSE;
|
||||
}
|
||||
|
||||
static inline Eina_Bool
|
||||
eina_matrix3_cmp(const Eina_Matrix3 *a, const Eina_Matrix3 *b)
|
||||
{
|
||||
if (FLOAT_CMP(a->xx, b->xx) &&
|
||||
FLOAT_CMP(a->xy, b->xy) &&
|
||||
FLOAT_CMP(a->xz, b->xz) &&
|
||||
FLOAT_CMP(a->yx, b->yx) &&
|
||||
FLOAT_CMP(a->yy, b->yy) &&
|
||||
FLOAT_CMP(a->yz, b->yz) &&
|
||||
FLOAT_CMP(a->zx, b->zx) &&
|
||||
FLOAT_CMP(a->zy, b->zy) &&
|
||||
FLOAT_CMP(a->zz, b->zz))
|
||||
return EINA_TRUE;
|
||||
return EINA_FALSE;
|
||||
}
|
||||
|
||||
START_TEST(eina_test_quaternion_norm)
|
||||
{
|
||||
static const Eina_Quaternion q = { 1, 3, 4, 5 };
|
||||
|
||||
eina_init();
|
||||
|
||||
fail_if(FLOAT_CMP(eina_quaternion_norm(&q), sqrt(51)));
|
||||
|
||||
eina_shutdown();
|
||||
}
|
||||
END_TEST
|
||||
|
||||
START_TEST(eina_test_quaternion_conjugate)
|
||||
{
|
||||
static const Eina_Quaternion q1 = { 1, -1, -1, 3 }, q2 = { 1, 3, 4, 3 };
|
||||
static const Eina_Quaternion r1 = { 1, 1, 1, -3 }, r2 = { 1, -3, -4, -3 };
|
||||
Eina_Quaternion t1, t2;
|
||||
|
||||
eina_init();
|
||||
|
||||
eina_quaternion_conjugate(&t1, &q1);
|
||||
eina_quaternion_conjugate(&t2, &q2);
|
||||
|
||||
fail_if(!eina_quaternion_cmp(&t1, &r1));
|
||||
fail_if(!eina_quaternion_cmp(&t2, &r2));
|
||||
|
||||
eina_shutdown();
|
||||
}
|
||||
END_TEST
|
||||
|
||||
START_TEST(eina_test_quaternion_matrix)
|
||||
{
|
||||
Eina_Quaternion q = { 7, 9, 5, 1 };
|
||||
Eina_Matrix3 m = {
|
||||
104, 76, 8,
|
||||
104, -8, -116,
|
||||
-52, 136, -56
|
||||
};
|
||||
Eina_Quaternion tq;
|
||||
Eina_Matrix3 tm;
|
||||
|
||||
eina_init();
|
||||
|
||||
eina_quaternion_rotation_matrix3_get(&tm, &q);
|
||||
fail_if(!eina_matrix3_cmp(&tm, &m));
|
||||
|
||||
eina_shutdown();
|
||||
}
|
||||
END_TEST
|
||||
|
||||
START_TEST(eina_test_quaternion_op)
|
||||
{
|
||||
Eina_Quaternion q = { 7, 9, 5, 1 };
|
||||
Eina_Quaternion z = { 0, 0, 0, 0 };
|
||||
Eina_Quaternion neg, r;
|
||||
|
||||
eina_init();
|
||||
|
||||
eina_quaternion_negative(&neg, &q);
|
||||
eina_quaternion_add(&r, &q, &neg);
|
||||
|
||||
fail_if(!eina_quaternion_cmp(&z, &r));
|
||||
|
||||
eina_shutdown();
|
||||
}
|
||||
END_TEST
|
||||
|
||||
void
|
||||
eina_test_quaternion(TCase *tc)
|
||||
{
|
||||
tcase_add_test(tc, eina_test_quaternion_norm);
|
||||
tcase_add_test(tc, eina_test_quaternion_conjugate);
|
||||
tcase_add_test(tc, eina_test_quaternion_matrix);
|
||||
tcase_add_test(tc, eina_test_quaternion_op);
|
||||
}
|
||||
Loading…
Reference in New Issue