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101 lines
2.1 KiB
C++
101 lines
2.1 KiB
C++
#ifndef B3_QUAT_H
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#define B3_QUAT_H
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#include "Bullet3Common/shared/b3PlatformDefinitions.h"
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#include "Bullet3Common/shared/b3Float4.h"
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#ifdef __cplusplus
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#include "Bullet3Common/b3Quaternion.h"
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#include "Bullet3Common/b3Transform.h"
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#define b3Quat b3Quaternion
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#define b3QuatConstArg const b3Quaternion&
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inline b3Quat b3QuatInverse(b3QuatConstArg orn)
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{
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return orn.inverse();
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}
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inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
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{
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b3Transform tr;
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tr.setOrigin(translation);
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tr.setRotation(orientation);
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return tr(point);
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}
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#else
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typedef float4 b3Quat;
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#define b3QuatConstArg const b3Quat
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inline float4 b3FastNormalize4(float4 v)
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{
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v = (float4)(v.xyz, 0.f);
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return fast_normalize(v);
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}
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inline b3Quat b3QuatMul(b3Quat a, b3Quat b);
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inline b3Quat b3QuatNormalized(b3QuatConstArg in);
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inline b3Quat b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec);
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inline b3Quat b3QuatInvert(b3QuatConstArg q);
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inline b3Quat b3QuatInverse(b3QuatConstArg q);
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inline b3Quat b3QuatMul(b3QuatConstArg a, b3QuatConstArg b)
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{
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b3Quat ans;
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ans = b3Cross3(a, b);
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ans += a.w * b + b.w * a;
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// ans.w = a.w*b.w - (a.x*b.x+a.y*b.y+a.z*b.z);
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ans.w = a.w * b.w - b3Dot3F4(a, b);
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return ans;
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}
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inline b3Quat b3QuatNormalized(b3QuatConstArg in)
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{
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b3Quat q;
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q = in;
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//return b3FastNormalize4(in);
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float len = native_sqrt(dot(q, q));
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if (len > 0.f)
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{
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q *= 1.f / len;
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}
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else
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{
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q.x = q.y = q.z = 0.f;
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q.w = 1.f;
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}
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return q;
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}
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inline float4 b3QuatRotate(b3QuatConstArg q, b3QuatConstArg vec)
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{
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b3Quat qInv = b3QuatInvert(q);
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float4 vcpy = vec;
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vcpy.w = 0.f;
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float4 out = b3QuatMul(b3QuatMul(q, vcpy), qInv);
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return out;
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}
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inline b3Quat b3QuatInverse(b3QuatConstArg q)
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{
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return (b3Quat)(-q.xyz, q.w);
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}
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inline b3Quat b3QuatInvert(b3QuatConstArg q)
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{
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return (b3Quat)(-q.xyz, q.w);
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}
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inline float4 b3QuatInvRotate(b3QuatConstArg q, b3QuatConstArg vec)
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{
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return b3QuatRotate(b3QuatInvert(q), vec);
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}
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inline b3Float4 b3TransformPoint(b3Float4ConstArg point, b3Float4ConstArg translation, b3QuatConstArg orientation)
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{
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return b3QuatRotate(orientation, point) + (translation);
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}
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#endif
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#endif //B3_QUAT_H
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