diff options
author | sanine <sanine.not@pm.me> | 2022-03-04 10:47:15 -0600 |
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committer | sanine <sanine.not@pm.me> | 2022-03-04 10:47:15 -0600 |
commit | 058f98a63658dc1a2579826ba167fd61bed1e21f (patch) | |
tree | bcba07a1615a14d943f3af3f815a42f3be86b2f3 /src/mesh/assimp-master/include/assimp/quaternion.inl | |
parent | 2f8028ac9e0812cb6f3cbb08f0f419e4e717bd22 (diff) |
add assimp submodule
Diffstat (limited to 'src/mesh/assimp-master/include/assimp/quaternion.inl')
-rw-r--r-- | src/mesh/assimp-master/include/assimp/quaternion.inl | 310 |
1 files changed, 310 insertions, 0 deletions
diff --git a/src/mesh/assimp-master/include/assimp/quaternion.inl b/src/mesh/assimp-master/include/assimp/quaternion.inl new file mode 100644 index 0000000..960e91a --- /dev/null +++ b/src/mesh/assimp-master/include/assimp/quaternion.inl @@ -0,0 +1,310 @@ +/* +--------------------------------------------------------------------------- +Open Asset Import Library (assimp) +--------------------------------------------------------------------------- + +Copyright (c) 2006-2022, assimp team + + + +All rights reserved. + +Redistribution and use of this software in source and binary forms, +with or without modification, are permitted provided that the following +conditions are met: + +* Redistributions of source code must retain the above + copyright notice, this list of conditions and the + following disclaimer. + +* Redistributions in binary form must reproduce the above + copyright notice, this list of conditions and the + following disclaimer in the documentation and/or other + materials provided with the distribution. + +* Neither the name of the assimp team, nor the names of its + contributors may be used to endorse or promote products + derived from this software without specific prior + written permission of the assimp team. + +THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR +A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT +OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, +SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT +LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, +DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY +THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE +OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +--------------------------------------------------------------------------- +*/ + +/** @file quaternion.inl + * @brief Inline implementation of aiQuaterniont<TReal> operators + */ +#pragma once +#ifndef AI_QUATERNION_INL_INC +#define AI_QUATERNION_INL_INC + +#ifdef __GNUC__ +# pragma GCC system_header +#endif + +#ifdef __cplusplus +#include <assimp/quaternion.h> + +#include <cmath> + +// ------------------------------------------------------------------------------------------------ +/** Transformation of a quaternion by a 4x4 matrix */ +template <typename TReal> +AI_FORCE_INLINE +aiQuaterniont<TReal> operator * (const aiMatrix4x4t<TReal>& pMatrix, const aiQuaterniont<TReal>& pQuaternion) { + aiQuaterniont<TReal> res; + res.x = pMatrix.a1 * pQuaternion.x + pMatrix.a2 * pQuaternion.y + pMatrix.a3 * pQuaternion.z + pMatrix.a4 * pQuaternion.w; + res.y = pMatrix.b1 * pQuaternion.x + pMatrix.b2 * pQuaternion.y + pMatrix.b3 * pQuaternion.z + pMatrix.b4 * pQuaternion.w; + res.z = pMatrix.c1 * pQuaternion.x + pMatrix.c2 * pQuaternion.y + pMatrix.c3 * pQuaternion.z + pMatrix.c4 * pQuaternion.w; + res.w = pMatrix.d1 * pQuaternion.x + pMatrix.d2 * pQuaternion.y + pMatrix.d3 * pQuaternion.z + pMatrix.d4 * pQuaternion.w; + return res; +} +// --------------------------------------------------------------------------- +template<typename TReal> +bool aiQuaterniont<TReal>::operator== (const aiQuaterniont& o) const +{ + return x == o.x && y == o.y && z == o.z && w == o.w; +} + +// --------------------------------------------------------------------------- +template<typename TReal> +bool aiQuaterniont<TReal>::operator!= (const aiQuaterniont& o) const +{ + return !(*this == o); +} + +// ------------------------------------------------------------------------------------------------ +template <typename TReal> +AI_FORCE_INLINE +aiQuaterniont<TReal>& aiQuaterniont<TReal>::operator *= (const aiMatrix4x4t<TReal>& mat){ + return (*this = mat * (*this)); +} +// ------------------------------------------------------------------------------------------------ + +// --------------------------------------------------------------------------- +template<typename TReal> +inline bool aiQuaterniont<TReal>::Equal(const aiQuaterniont& o, TReal epsilon) const { + return + std::abs(x - o.x) <= epsilon && + std::abs(y - o.y) <= epsilon && + std::abs(z - o.z) <= epsilon && + std::abs(w - o.w) <= epsilon; +} + +// --------------------------------------------------------------------------- +// Constructs a quaternion from a rotation matrix +template<typename TReal> +inline aiQuaterniont<TReal>::aiQuaterniont( const aiMatrix3x3t<TReal> &pRotMatrix) +{ + TReal t = pRotMatrix.a1 + pRotMatrix.b2 + pRotMatrix.c3; + + // large enough + if( t > static_cast<TReal>(0)) + { + TReal s = std::sqrt(1 + t) * static_cast<TReal>(2.0); + x = (pRotMatrix.c2 - pRotMatrix.b3) / s; + y = (pRotMatrix.a3 - pRotMatrix.c1) / s; + z = (pRotMatrix.b1 - pRotMatrix.a2) / s; + w = static_cast<TReal>(0.25) * s; + } // else we have to check several cases + else if( pRotMatrix.a1 > pRotMatrix.b2 && pRotMatrix.a1 > pRotMatrix.c3 ) + { + // Column 0: + TReal s = std::sqrt( static_cast<TReal>(1.0) + pRotMatrix.a1 - pRotMatrix.b2 - pRotMatrix.c3) * static_cast<TReal>(2.0); + x = static_cast<TReal>(0.25) * s; + y = (pRotMatrix.b1 + pRotMatrix.a2) / s; + z = (pRotMatrix.a3 + pRotMatrix.c1) / s; + w = (pRotMatrix.c2 - pRotMatrix.b3) / s; + } + else if( pRotMatrix.b2 > pRotMatrix.c3) + { + // Column 1: + TReal s = std::sqrt( static_cast<TReal>(1.0) + pRotMatrix.b2 - pRotMatrix.a1 - pRotMatrix.c3) * static_cast<TReal>(2.0); + x = (pRotMatrix.b1 + pRotMatrix.a2) / s; + y = static_cast<TReal>(0.25) * s; + z = (pRotMatrix.c2 + pRotMatrix.b3) / s; + w = (pRotMatrix.a3 - pRotMatrix.c1) / s; + } else + { + // Column 2: + TReal s = std::sqrt( static_cast<TReal>(1.0) + pRotMatrix.c3 - pRotMatrix.a1 - pRotMatrix.b2) * static_cast<TReal>(2.0); + x = (pRotMatrix.a3 + pRotMatrix.c1) / s; + y = (pRotMatrix.c2 + pRotMatrix.b3) / s; + z = static_cast<TReal>(0.25) * s; + w = (pRotMatrix.b1 - pRotMatrix.a2) / s; + } +} + +// --------------------------------------------------------------------------- +// Construction from euler angles +template<typename TReal> +inline aiQuaterniont<TReal>::aiQuaterniont( TReal fPitch, TReal fYaw, TReal fRoll ) +{ + const TReal fSinPitch(std::sin(fPitch*static_cast<TReal>(0.5))); + const TReal fCosPitch(std::cos(fPitch*static_cast<TReal>(0.5))); + const TReal fSinYaw(std::sin(fYaw*static_cast<TReal>(0.5))); + const TReal fCosYaw(std::cos(fYaw*static_cast<TReal>(0.5))); + const TReal fSinRoll(std::sin(fRoll*static_cast<TReal>(0.5))); + const TReal fCosRoll(std::cos(fRoll*static_cast<TReal>(0.5))); + const TReal fCosPitchCosYaw(fCosPitch*fCosYaw); + const TReal fSinPitchSinYaw(fSinPitch*fSinYaw); + x = fSinRoll * fCosPitchCosYaw - fCosRoll * fSinPitchSinYaw; + y = fCosRoll * fSinPitch * fCosYaw + fSinRoll * fCosPitch * fSinYaw; + z = fCosRoll * fCosPitch * fSinYaw - fSinRoll * fSinPitch * fCosYaw; + w = fCosRoll * fCosPitchCosYaw + fSinRoll * fSinPitchSinYaw; +} + +// --------------------------------------------------------------------------- +// Returns a matrix representation of the quaternion +template<typename TReal> +inline aiMatrix3x3t<TReal> aiQuaterniont<TReal>::GetMatrix() const +{ + aiMatrix3x3t<TReal> resMatrix; + resMatrix.a1 = static_cast<TReal>(1.0) - static_cast<TReal>(2.0) * (y * y + z * z); + resMatrix.a2 = static_cast<TReal>(2.0) * (x * y - z * w); + resMatrix.a3 = static_cast<TReal>(2.0) * (x * z + y * w); + resMatrix.b1 = static_cast<TReal>(2.0) * (x * y + z * w); + resMatrix.b2 = static_cast<TReal>(1.0) - static_cast<TReal>(2.0) * (x * x + z * z); + resMatrix.b3 = static_cast<TReal>(2.0) * (y * z - x * w); + resMatrix.c1 = static_cast<TReal>(2.0) * (x * z - y * w); + resMatrix.c2 = static_cast<TReal>(2.0) * (y * z + x * w); + resMatrix.c3 = static_cast<TReal>(1.0) - static_cast<TReal>(2.0) * (x * x + y * y); + + return resMatrix; +} + +// --------------------------------------------------------------------------- +// Construction from an axis-angle pair +template<typename TReal> +inline aiQuaterniont<TReal>::aiQuaterniont( aiVector3t<TReal> axis, TReal angle) +{ + axis.Normalize(); + + const TReal sin_a = std::sin( angle / 2 ); + const TReal cos_a = std::cos( angle / 2 ); + x = axis.x * sin_a; + y = axis.y * sin_a; + z = axis.z * sin_a; + w = cos_a; +} +// --------------------------------------------------------------------------- +// Construction from am existing, normalized quaternion +template<typename TReal> +inline aiQuaterniont<TReal>::aiQuaterniont( aiVector3t<TReal> normalized) +{ + x = normalized.x; + y = normalized.y; + z = normalized.z; + + const TReal t = static_cast<TReal>(1.0) - (x*x) - (y*y) - (z*z); + + if (t < static_cast<TReal>(0.0)) { + w = static_cast<TReal>(0.0); + } + else w = std::sqrt (t); +} + +// --------------------------------------------------------------------------- +// Performs a spherical interpolation between two quaternions +// Implementation adopted from the gmtl project. All others I found on the net fail in some cases. +// Congrats, gmtl! +template<typename TReal> +inline void aiQuaterniont<TReal>::Interpolate( aiQuaterniont& pOut, const aiQuaterniont& pStart, const aiQuaterniont& pEnd, TReal pFactor) +{ + // calc cosine theta + TReal cosom = pStart.x * pEnd.x + pStart.y * pEnd.y + pStart.z * pEnd.z + pStart.w * pEnd.w; + + // adjust signs (if necessary) + aiQuaterniont end = pEnd; + if( cosom < static_cast<TReal>(0.0)) + { + cosom = -cosom; + end.x = -end.x; // Reverse all signs + end.y = -end.y; + end.z = -end.z; + end.w = -end.w; + } + + // Calculate coefficients + TReal sclp, sclq; + if( (static_cast<TReal>(1.0) - cosom) > static_cast<TReal>(0.0001)) // 0.0001 -> some epsillon + { + // Standard case (slerp) + TReal omega, sinom; + omega = std::acos( cosom); // extract theta from dot product's cos theta + sinom = std::sin( omega); + sclp = std::sin( (static_cast<TReal>(1.0) - pFactor) * omega) / sinom; + sclq = std::sin( pFactor * omega) / sinom; + } else + { + // Very close, do linear interp (because it's faster) + sclp = static_cast<TReal>(1.0) - pFactor; + sclq = pFactor; + } + + pOut.x = sclp * pStart.x + sclq * end.x; + pOut.y = sclp * pStart.y + sclq * end.y; + pOut.z = sclp * pStart.z + sclq * end.z; + pOut.w = sclp * pStart.w + sclq * end.w; +} + +// --------------------------------------------------------------------------- +template<typename TReal> +inline aiQuaterniont<TReal>& aiQuaterniont<TReal>::Normalize() +{ + // compute the magnitude and divide through it + const TReal mag = std::sqrt(x*x + y*y + z*z + w*w); + if (mag) + { + const TReal invMag = static_cast<TReal>(1.0)/mag; + x *= invMag; + y *= invMag; + z *= invMag; + w *= invMag; + } + return *this; +} + +// --------------------------------------------------------------------------- +template<typename TReal> +inline aiQuaterniont<TReal> aiQuaterniont<TReal>::operator* (const aiQuaterniont& t) const +{ + return aiQuaterniont(w*t.w - x*t.x - y*t.y - z*t.z, + w*t.x + x*t.w + y*t.z - z*t.y, + w*t.y + y*t.w + z*t.x - x*t.z, + w*t.z + z*t.w + x*t.y - y*t.x); +} + +// --------------------------------------------------------------------------- +template<typename TReal> +inline aiQuaterniont<TReal>& aiQuaterniont<TReal>::Conjugate () +{ + x = -x; + y = -y; + z = -z; + return *this; +} + +// --------------------------------------------------------------------------- +template<typename TReal> +inline aiVector3t<TReal> aiQuaterniont<TReal>::Rotate (const aiVector3t<TReal>& v) const +{ + aiQuaterniont q2(0.f,v.x,v.y,v.z), q = *this, qinv = q; + qinv.Conjugate(); + + q = q*q2*qinv; + return aiVector3t<TReal>(q.x,q.y,q.z); +} + +#endif +#endif // AI_QUATERNION_INL_INC |