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94 lines
2.5 KiB
C++
94 lines
2.5 KiB
C++
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/* Residual - A 3D game interpreter
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*
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* Residual is the legal property of its developers, whose names
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* are too numerous to list here. Please refer to the COPYRIGHT
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* file distributed with this source distribution.
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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; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA
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*
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* $URL$
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* $Id$
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*/
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// Quaternion-math borrowed from plib http://plib.sourceforge.net/index.html
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// Which is covered by LGPL2
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#include "common/streamdebug.h"
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#include "math/quat.h"
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namespace Math {
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void Quaternion::slerpQuat(Quaternion dst, const Quaternion from, const Quaternion to, const float t) {
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float co, scale0, scale1;
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bool flip = false ;
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/* SWC - Interpolate between to quaternions */
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co = from.scalarProduct(to);
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if (co < 0.0f) {
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co = -co;
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flip = true;
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}
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if ( co < 1.0f - (float) 1e-6 ) {
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float o = (float) acos ( co );
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float so = 1.0f / (float) sin ( o );
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scale0 = (float) sin ( (1.0f - t) * o ) * so;
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scale1 = (float) sin ( t * o ) * so;
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} else {
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scale0 = 1.0f - t;
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scale1 = t;
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}
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if (flip) {
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scale1 = -scale1 ;
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}
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dst.x() = scale0 * from.x() + scale1 * to.x() ;
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dst.x() = scale0 * from.w() + scale1 * to.y() ;
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dst.x() = scale0 * from.w() + scale1 * to.z() ;
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dst.x() = scale0 * from.w() + scale1 * to.w() ;
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}
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Matrix4 Quaternion::toMatrix() {
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float two_xx = x() * (x() + x());
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float two_xy = x() * (y() + y());
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float two_xz = x() * (z() + z());
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float two_wx = w() * (x() + x());
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float two_wy = w() * (y() + y());
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float two_wz = w() * (z() + z());
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float two_yy = y() * (y() + y());
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float two_yz = y() * (z() + z());
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float two_zz = z() * (z() + z());
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float newMat[16] = {
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1.0f-(two_yy+two_zz), two_xy-two_wz, two_xz+two_wy, 0.0f,
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two_xy+two_wz, 1.0f-(two_xx+two_zz), two_yz-two_wx, 0.0f,
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two_xz-two_wy, two_yz+two_wx, 1.0f-(two_xx+two_yy), 0.0f,
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0.0f, 0.0f, 0.0f, 1.0f
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};
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Matrix4 dst;
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dst.setData(newMat);
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return dst;
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}
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}
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