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#include <BH/Math/Quat.h>
#include <BH/Math/Vec3f.h>
#include <BH/Math/Mat4f.h>
#include <string.h>
#include <math.h>
#define EPSILON 0.00001f
#define PI 3.14159265358979323846f
void BH_Quat4fIdentity(float out[4])
{
static const float ident[4] = {0.0f, 0.0f, 0.0f, 1.0f};
memcpy(out, ident, sizeof(ident));
}
void BH_Quat4fConjugate(const float in[4],
float out[4])
{
out[0] = -in[0];
out[1] = -in[1];
out[2] = -in[2];
out[3] = in[3];
}
void BH_Quat4fInverse(const float in[4],
float out[4])
{
float dot;
dot = BH_Vec4fDot(in, in);
BH_Quat4fConjugate(in, out);
BH_Quat4fScale(out, 1.0f / dot, out);
}
void BH_Quat4fMul(const float a[4],
const float b[4],
float out[4])
{
float tmp1[4], tmp2[4], tmp3[4];
float w;
w = a[3] * b[3] - BH_Vec3fDot(a, b);
BH_Vec4fScale(a, b[3], tmp1);
BH_Vec4fScale(b, a[3], tmp2);
BH_Vec3fCross(a, b, tmp3);
BH_Vec4fAdd(tmp1, tmp2, out);
BH_Vec4fAdd(tmp3, out, out);
out[3] = w;
}
void BH_Quat4fSlerp(const float a[4],
const float b[4],
float t,
float out[4])
{
float angle, denom;
float from[4], to[4];
angle = acosf(BH_Vec4fDot(a, b));
if (fabsf(angle) < EPSILON)
{
BH_Vec4fLerp(a, b, t, out);
return;
}
denom = 1.0f / sinf(angle);
BH_Vec4fScale(a, sinf((1 - t) * angle) * denom, from);
BH_Vec4fScale(b, sinf(t * angle) * denom, to);
BH_Vec4fAdd(from, to, out);
}
void BH_Quat4fFromEuler(float roll,
float pitch,
float yaw,
float out[4])
{
float cr, cp, cy, sr, sp, sy;
cr = cosf(roll / 2.0f);
cp = cosf(pitch / 2.0f);
cy = cosf(yaw / 2.0f);
sr = sinf(roll / 2.0f);
sp = sinf(pitch / 2.0f);
sy = sinf(yaw / 2.0f);
out[0] = sr * cp * cy - cr * sp * sy;
out[1] = cr * sp * cy + sr * cp * sy;
out[2] = cr * cp * sy - sr * sp * cy;
out[3] = cr * cp * cy + sr * sp * sy;
}
void BH_Quat4fFromAxis(const float axis[3],
float angle,
float out[4])
{
float c, s;
c = cosf(angle / 2.0f);
s = sinf(angle / 2.0f);
out[0] = axis[0] * s;
out[1] = axis[1] * s;
out[2] = axis[2] * s;
out[3] = c;
}
void BH_Quat4fToEuler(const float in[4],
float *roll,
float *pitch,
float *yaw)
{
float ww, xw, yw, zw, xx, xy, xz, yy, yz, zz, angle;
xx = in[0] * in[0];
xy = in[0] * in[1];
xz = in[0] * in[2];
xw = in[0] * in[3];
yy = in[1] * in[1];
yz = in[1] * in[2];
yw = in[1] * in[3];
zz = in[2] * in[2];
zw = in[2] * in[3];
ww = in[3] * in[3];
angle = 2.0f * (yw - xz);
if (angle > 1.0f)
angle = 1.0f;
if (angle < -1.0f)
angle = -1.0f;
*pitch = asinf(angle);
if (fabsf(*pitch - (PI / 2.0f)) < EPSILON)
{
*roll = 0.0f;
*yaw = -2.0f * atan2f(in[0], in[3]);
}
else if (fabsf(*pitch - (PI / -2.0f)) < EPSILON)
{
*roll = 0.0f;
*yaw = 2.0f * atan2f(in[0], in[3]);
}
else
{
*roll = atan2f(2.0f * (xw + yz), ww - xx - yy + zz);
*yaw = atan2f(2.0f * (zw + xy), ww + xx - yy - zz);
}
}
void BH_Quat4fToAxis(const float in[4],
float axis[3],
float *angle)
{
*angle = 2.0f * acosf(in[3]);
if (fabsf(*angle) < EPSILON)
{
axis[0] = 1.0f;
axis[1] = 0.0f;
axis[2] = 0.0f;
}
else
{
float tmp;
tmp = sqrtf(1.0f - in[3] * in[3]);
axis[0] = in[0] / tmp;
axis[1] = in[1] / tmp;
axis[2] = in[2] / tmp;
}
}
void BH_Quat4fToMat4f(const float in[4],
float out[16])
{
float xx, xy, xz, xw, yy, yz, yw, zz, zw;
xx = in[0] * in[0];
xy = in[0] * in[1];
xz = in[0] * in[2];
xw = in[0] * in[3];
yy = in[1] * in[1];
yz = in[1] * in[2];
yw = in[1] * in[3];
zz = in[2] * in[2];
zw = in[2] * in[3];
BH_Mat4fIdentity(out);
out[0] = 1.0f - 2.0f * (yy + zz);
out[1] = 2.0f * (xy + zw);
out[2] = 2.0f * (xz - yw);
out[4] = 2.0f * (xy - zw);
out[5] = 1.0f - 2.0f * (xx + zz);
out[6] = 2.0f * (yz + xw);
out[8] = 2.0f * (xz + yw);
out[9] = 2.0f * (yz - xw);
out[10] = 1.0f - 2.0f * (xx + yy);
}
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