101 lines
3.7 KiB
C++
101 lines
3.7 KiB
C++
//
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// quaternion.h
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// CubicVR2
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//
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// Created by Charles J. Cliffe on 2013-02-22.
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// Copyright (c) 2013 Charles J. Cliffe. All rights reserved.
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//
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#ifndef __CubicVR2__quaternion__
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#define __CubicVR2__quaternion__
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#include <iostream>
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#include "vec4.h"
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#include "mat4.h"
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namespace CubicVR {
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struct quaternion : vec4 {
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static vec4 fromMatrix(mat4 mat) {
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__float t = 1 + mat[0] + mat[5] + mat[10];
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__float S,X,Y,Z,W;
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if ( t > 0.00000001 ) {
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S = sqrtf(t) * 2;
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X = ( mat[9] - mat[6] ) / S;
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Y = ( mat[2] - mat[8] ) / S;
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Z = ( mat[4] - mat[1] ) / S;
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W = 0.25f * S;
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} else {
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if ( mat[0] > mat[5] && mat[0] > mat[10] ) { // Column 0:
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S = sqrtf( 1.0f + mat[0] - mat[5] - mat[10] ) * 2.0f;
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X = 0.25f * S;
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Y = (mat[4] + mat[1] ) / S;
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Z = (mat[2] + mat[8] ) / S;
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W = (mat[9] - mat[6] ) / S;
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} else if ( mat[5] > mat[10] ) { // Column 1:
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S = sqrtf( 1.0f + mat[5] - mat[0] - mat[10] ) * 2.0f;
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X = (mat[4] + mat[1] ) / S;
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Y = 0.25f * S;
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Z = (mat[9] + mat[6] ) / S;
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W = (mat[2] - mat[8] ) / S;
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} else { // Column 2:
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S = sqrtf( 1.0f + mat[10] - mat[0] - mat[5] ) * 2.0f;
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X = (mat[2] + mat[8] ) / S;
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Y = (mat[9] + mat[6] ) / S;
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Z = 0.25f * S;
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W = (mat[4] - mat[1] ) / S;
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}
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}
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return vec4(X,Y,Z,W);
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};
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static vec4 fromEuler(__float bank, __float heading, __float pitch) { // x,y,z
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__float c1 = cosf(((float)M_PI / 180.0f) * heading / 2.0f);
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__float s1 = sinf(((float)M_PI / 180.0f) * heading / 2.0f);
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__float c2 = cosf(((float)M_PI / 180.0f) * pitch / 2.0f);
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__float s2 = sinf(((float)M_PI / 180.0f) * pitch / 2.0f);
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__float c3 = cosf(((float)M_PI / 180.0f) * bank / 2.0f);
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__float s3 = sinf(((float)M_PI / 180.0f) * bank / 2.0f);
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__float c1c2 = c1 * c2;
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__float s1s2 = s1 * s2;
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vec4 mOut;
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mOut[0] = c1c2 * c3 - s1s2 * s3;
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mOut[1] = c1c2 * s3 + s1s2 * c3;
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mOut[2] = s1 * c2 * c3 + c1 * s2 * s3;
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mOut[3] = c1 * s2 * c3 - s1 * c2 * s3;
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return mOut;
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};
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static vec3 toEuler(vec4 q) {
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__float sqx = q[0] * q[0];
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__float sqy = q[1] * q[1];
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__float sqz = q[2] * q[2];
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__float sqw = q[3] * q[3];
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__float x = (180.0f / (float)M_PI) * ((atan2f(2.0f * (q[1] * q[2] + q[0] * q[3]), (-sqx - sqy + sqz + sqw))));
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__float y = (180.0f / (float)M_PI) * ((asinf(-2.0f * (q[0] * q[2] - q[1] * q[3]))));
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__float z = (180.0f / (float)M_PI) * ((atan2f(2.0f * (q[0] * q[1] + q[2] * q[3]), (sqx - sqy - sqz + sqw))));
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return vec3(x, y, z);
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};
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static vec4 multiply(vec4 q1, vec4 q2) {
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__float x = q1[0] * q2[3] + q1[3] * q2[0] + q1[1] * q2[2] - q1[2] * q2[1];
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__float y = q1[1] * q2[3] + q1[3] * q2[1] + q1[2] * q2[0] - q1[0] * q2[2];
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__float z = q1[2] * q2[3] + q1[3] * q2[2] + q1[0] * q2[1] - q1[1] * q2[0];
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__float w = q1[3] * q2[3] - q1[0] * q2[0] - q1[1] * q2[1] - q1[2] * q2[2];
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return vec4(x,y,z,w);
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};
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};
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}
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#endif /* defined(__CubicVR2__quaternion__) */
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