Subversion Repositories gelsvn

Rev

Details | Last modification | View Log | RSS feed

Rev Author Line No. Line
2 bj 1 
#include "Vec3f.h"
2 
#include "Quaternion.h"
3 
 
4 
namespace CGLA {
5 
	void Quaternion::make_rot(float angle, const Vec3f& v)
6 
	{
7 
		angle = angle/2;
8 
		qv = CGLA::normalize(v);
9 
		qv *= sin(angle);
10 
		qw  = cos(angle);
11 
	};
12 
 
13 
	void Quaternion::make_rot(const Vec3f& _v0, const Vec3f& _v1)
14 
	{
15 
		Vec3f v0 = CGLA::normalize(_v0);
16 
		Vec3f v1 = CGLA::normalize(_v1);
17 
		qv = cross(v0, v1);
18 
		float l = qv.length();
19 
		if(l<TINY)
20 
			qv = Vec3f(1,0,0);
21 
		else
22 
			qv.normalize();
23 
		float a = acos(dot(v0,v1))/2;
24 
		qw  = cos(a);
25 
		qv *= sin(a);
26 
	};
27 
 
28 
	void Quaternion::get_rot(float& angle, Vec3f& v)
29 
	{
30 
		angle=2*acos(qw);
31 
 
32 
		if (angle<TINY)
33 
			v = Vec3f(1,0,0);
34 
		else
35 
			v = qv / sin(angle);
36 
 
37 
		if (angle>M_PI)
38 
			v = -v;
39 
 
40 
		v.normalize();
41 
	}
42 
 
43 
	Mat3x3f Quaternion::get_mat3x3f() const
44 
	{
45 
		float s=2/norm();
46 
		float m[9] = {1 - s*(qv[1]*qv[1]+qv[2]*qv[2]),
47 
									s*(qv[0]*qv[1]-qw*qv[2]),
48 
									s*(qv[0]*qv[2]+qw*qv[1]),
49 
									s*(qv[0]*qv[1]+qw*qv[2]),
50 
									1 - s*(qv[0]*qv[0]+qv[2]*qv[2]),
51 
         s*(qv[1]*qv[2]-qw*qv[0]),
52 
									s*(qv[0]*qv[2]-qw*qv[1]),
53 
									s*(qv[1]*qv[2]+qw*qv[0]),
54 
									1 - s*(qv[0]*qv[0]+qv[1]*qv[1])};
55 
		Mat3x3f mat;
56 
		mat.set(m);
57 
		return mat;
58 
	}
59 
 
60 
 
61 
	//This function just need to call the right initialiser
62 
 
63 
	Mat4x4f Quaternion::get_mat4x4f() const
64 
	{
65 
		float s=2/norm();
66 
		float m[16] = {1 - s*(qv[1]*qv[1]+qv[2]*qv[2]),
67 
									 s*(qv[0]*qv[1]-qw*qv[2]),
68 
									 s*(qv[0]*qv[2]+qw*qv[1]),
69 
									 float(0),
70 
									 s*(qv[0]*qv[1]+qw*qv[2]),
71 
									 1 - s*(qv[0]*qv[0]+qv[2]*qv[2]),
72 
									 s*(qv[1]*qv[2]-qw*qv[0]),
73 
									 float(0),
74 
									 s*(qv[0]*qv[2]-qw*qv[1]),
75 
									 s*(qv[1]*qv[2]+qw*qv[0]),
76 
									 1 - s*(qv[0]*qv[0]+qv[1]*qv[1]),
77 
									 float(0),
78 
									 float(0),
79 
									 float(0),
80 
									 float(0),
81 
									 float(1)};
82 
		Mat4x4f mat;
83 
		mat.set(m);
84 
		return mat;
85 
	}
86 
 
87 
 
88 
	Vec3f Quaternion::apply(const Vec3f& vec) const
89 
	{
90 
		return Vec3f((*this)*Quaternion(vec)*inverse());
91 
	}
92 
 
93 
 
94 
}