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/***
* libccd
* ---------------------------------
* Copyright (c)2010 Daniel Fiser <danfis@danfis.cz>
*
*
* This file is part of libccd.
*
* Distributed under the OSI-approved BSD License (the "License");
* see accompanying file BDS-LICENSE for details or see
* <http://www.opensource.org/licenses/bsd-license.php>.
*
* This software is distributed WITHOUT ANY WARRANTY; without even the
* implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the License for more information.
*/
#ifndef __CCD_QUAT_H__
#define __CCD_QUAT_H__
#include <ccd/compiler.h>
#include <ccd/vec3.h>
#ifdef __cplusplus
extern "C" {
#endif /* __cplusplus */
struct _ccd_quat_t {
ccd_real_t q[4]; //!< x, y, z, w
};
typedef struct _ccd_quat_t ccd_quat_t;
#define CCD_QUAT(name, x, y, z, w) \
ccd_quat_t name = { {x, y, z, w} }
_ccd_inline ccd_real_t ccdQuatLen2(const ccd_quat_t *q);
_ccd_inline ccd_real_t ccdQuatLen(const ccd_quat_t *q);
_ccd_inline void ccdQuatSet(ccd_quat_t *q, ccd_real_t x, ccd_real_t y, ccd_real_t z, ccd_real_t w);
_ccd_inline void ccdQuatCopy(ccd_quat_t *dest, const ccd_quat_t *src);
_ccd_inline int ccdQuatNormalize(ccd_quat_t *q);
_ccd_inline void ccdQuatSetAngleAxis(ccd_quat_t *q,
ccd_real_t angle, const ccd_vec3_t *axis);
_ccd_inline void ccdQuatScale(ccd_quat_t *q, ccd_real_t k);
/**
* q = q * q2
*/
_ccd_inline void ccdQuatMul(ccd_quat_t *q, const ccd_quat_t *q2);
/**
* q = a * b
*/
_ccd_inline void ccdQuatMul2(ccd_quat_t *q,
const ccd_quat_t *a, const ccd_quat_t *b);
/**
* Inverts quaternion.
* Returns 0 on success.
*/
_ccd_inline int ccdQuatInvert(ccd_quat_t *q);
_ccd_inline int ccdQuatInvert2(ccd_quat_t *dest, const ccd_quat_t *src);
/**
* Rotate vector v by quaternion q.
*/
_ccd_inline void ccdQuatRotVec(ccd_vec3_t *v, const ccd_quat_t *q);
/**** INLINES ****/
_ccd_inline ccd_real_t ccdQuatLen2(const ccd_quat_t *q)
{
ccd_real_t len;
len = q->q[0] * q->q[0];
len += q->q[1] * q->q[1];
len += q->q[2] * q->q[2];
len += q->q[3] * q->q[3];
return len;
}
_ccd_inline ccd_real_t ccdQuatLen(const ccd_quat_t *q)
{
return CCD_SQRT(ccdQuatLen2(q));
}
_ccd_inline void ccdQuatSet(ccd_quat_t *q, ccd_real_t x, ccd_real_t y, ccd_real_t z, ccd_real_t w)
{
q->q[0] = x;
q->q[1] = y;
q->q[2] = z;
q->q[3] = w;
}
_ccd_inline void ccdQuatCopy(ccd_quat_t *dest, const ccd_quat_t *src)
{
*dest = *src;
}
_ccd_inline int ccdQuatNormalize(ccd_quat_t *q)
{
ccd_real_t len = ccdQuatLen(q);
if (len < CCD_EPS)
return 0;
ccdQuatScale(q, CCD_ONE / len);
return 1;
}
_ccd_inline void ccdQuatSetAngleAxis(ccd_quat_t *q,
ccd_real_t angle, const ccd_vec3_t *axis)
{
ccd_real_t a, x, y, z, n, s;
a = angle/2;
x = ccdVec3X(axis);
y = ccdVec3Y(axis);
z = ccdVec3Z(axis);
n = CCD_SQRT(x*x + y*y + z*z);
// axis==0? (treat this the same as angle==0 with an arbitrary axis)
if (n < CCD_EPS){
q->q[0] = q->q[1] = q->q[2] = CCD_ZERO;
q->q[3] = CCD_ONE;
}else{
s = sin(a)/n;
q->q[3] = cos(a);
q->q[0] = x*s;
q->q[1] = y*s;
q->q[2] = z*s;
ccdQuatNormalize(q);
}
}
_ccd_inline void ccdQuatScale(ccd_quat_t *q, ccd_real_t k)
{
size_t i;
for (i = 0; i < 4; i++)
q->q[i] *= k;
}
_ccd_inline void ccdQuatMul(ccd_quat_t *q, const ccd_quat_t *q2)
{
ccd_quat_t a;
ccdQuatCopy(&a, q);
ccdQuatMul2(q, &a, q2);
}
_ccd_inline void ccdQuatMul2(ccd_quat_t *q,
const ccd_quat_t *a, const ccd_quat_t *b)
{
q->q[0] = a->q[3] * b->q[0]
+ a->q[0] * b->q[3]
+ a->q[1] * b->q[2]
- a->q[2] * b->q[1];
q->q[1] = a->q[3] * b->q[1]
+ a->q[1] * b->q[3]
- a->q[0] * b->q[2]
+ a->q[2] * b->q[0];
q->q[2] = a->q[3] * b->q[2]
+ a->q[2] * b->q[3]
+ a->q[0] * b->q[1]
- a->q[1] * b->q[0];
q->q[3] = a->q[3] * b->q[3]
- a->q[0] * b->q[0]
- a->q[1] * b->q[1]
- a->q[2] * b->q[2];
}
_ccd_inline int ccdQuatInvert(ccd_quat_t *q)
{
ccd_real_t len2 = ccdQuatLen2(q);
if (len2 < CCD_EPS)
return -1;
len2 = CCD_ONE / len2;
q->q[0] = -q->q[0] * len2;
q->q[1] = -q->q[1] * len2;
q->q[2] = -q->q[2] * len2;
q->q[3] = q->q[3] * len2;
return 0;
}
_ccd_inline int ccdQuatInvert2(ccd_quat_t *dest, const ccd_quat_t *src)
{
ccdQuatCopy(dest, src);
return ccdQuatInvert(dest);
}
_ccd_inline void ccdQuatRotVec(ccd_vec3_t *v, const ccd_quat_t *q)
{
// original version: 31 mul + 21 add
// optimized version: 18 mul + 12 add
// formula: v = v + 2 * cross(q.xyz, cross(q.xyz, v) + q.w * v)
ccd_real_t cross1_x, cross1_y, cross1_z, cross2_x, cross2_y, cross2_z;
ccd_real_t x, y, z, w;
ccd_real_t vx, vy, vz;
vx = ccdVec3X(v);
vy = ccdVec3Y(v);
vz = ccdVec3Z(v);
w = q->q[3];
x = q->q[0];
y = q->q[1];
z = q->q[2];
cross1_x = y * vz - z * vy + w * vx;
cross1_y = z * vx - x * vz + w * vy;
cross1_z = x * vy - y * vx + w * vz;
cross2_x = y * cross1_z - z * cross1_y;
cross2_y = z * cross1_x - x * cross1_z;
cross2_z = x * cross1_y - y * cross1_x;
ccdVec3Set(v, vx + 2 * cross2_x, vy + 2 * cross2_y, vz + 2 * cross2_z);
}
#ifdef __cplusplus
} /* extern "C" */
#endif /* __cplusplus */
#endif /* __CCD_QUAT_H__ */
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