13301542828febc768e1df42892cfac4992c35474Mathias Agopian/* 23301542828febc768e1df42892cfac4992c35474Mathias Agopian * Copyright (C) 2011 The Android Open Source Project 33301542828febc768e1df42892cfac4992c35474Mathias Agopian * 43301542828febc768e1df42892cfac4992c35474Mathias Agopian * Licensed under the Apache License, Version 2.0 (the "License"); 53301542828febc768e1df42892cfac4992c35474Mathias Agopian * you may not use this file except in compliance with the License. 63301542828febc768e1df42892cfac4992c35474Mathias Agopian * You may obtain a copy of the License at 73301542828febc768e1df42892cfac4992c35474Mathias Agopian * 83301542828febc768e1df42892cfac4992c35474Mathias Agopian * http://www.apache.org/licenses/LICENSE-2.0 93301542828febc768e1df42892cfac4992c35474Mathias Agopian * 103301542828febc768e1df42892cfac4992c35474Mathias Agopian * Unless required by applicable law or agreed to in writing, software 113301542828febc768e1df42892cfac4992c35474Mathias Agopian * distributed under the License is distributed on an "AS IS" BASIS, 123301542828febc768e1df42892cfac4992c35474Mathias Agopian * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 133301542828febc768e1df42892cfac4992c35474Mathias Agopian * See the License for the specific language governing permissions and 143301542828febc768e1df42892cfac4992c35474Mathias Agopian * limitations under the License. 153301542828febc768e1df42892cfac4992c35474Mathias Agopian */ 163301542828febc768e1df42892cfac4992c35474Mathias Agopian 173301542828febc768e1df42892cfac4992c35474Mathias Agopian#ifndef ANDROID_QUAT_H 183301542828febc768e1df42892cfac4992c35474Mathias Agopian#define ANDROID_QUAT_H 193301542828febc768e1df42892cfac4992c35474Mathias Agopian 203301542828febc768e1df42892cfac4992c35474Mathias Agopian#include <math.h> 213301542828febc768e1df42892cfac4992c35474Mathias Agopian 223301542828febc768e1df42892cfac4992c35474Mathias Agopian#include "vec.h" 233301542828febc768e1df42892cfac4992c35474Mathias Agopian#include "mat.h" 243301542828febc768e1df42892cfac4992c35474Mathias Agopian 253301542828febc768e1df42892cfac4992c35474Mathias Agopian// ----------------------------------------------------------------------- 263301542828febc768e1df42892cfac4992c35474Mathias Agopiannamespace android { 273301542828febc768e1df42892cfac4992c35474Mathias Agopian// ----------------------------------------------------------------------- 283301542828febc768e1df42892cfac4992c35474Mathias Agopian 293301542828febc768e1df42892cfac4992c35474Mathias Agopiantemplate <typename TYPE> 303301542828febc768e1df42892cfac4992c35474Mathias Agopianmat<TYPE, 3, 3> quatToMatrix(const vec<TYPE, 4>& q) { 313301542828febc768e1df42892cfac4992c35474Mathias Agopian mat<TYPE, 3, 3> R; 323301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE q0(q.w); 333301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE q1(q.x); 343301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE q2(q.y); 353301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE q3(q.z); 363301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE sq_q1 = 2 * q1 * q1; 373301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE sq_q2 = 2 * q2 * q2; 383301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE sq_q3 = 2 * q3 * q3; 393301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE q1_q2 = 2 * q1 * q2; 403301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE q3_q0 = 2 * q3 * q0; 413301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE q1_q3 = 2 * q1 * q3; 423301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE q2_q0 = 2 * q2 * q0; 433301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE q2_q3 = 2 * q2 * q3; 443301542828febc768e1df42892cfac4992c35474Mathias Agopian TYPE q1_q0 = 2 * q1 * q0; 453301542828febc768e1df42892cfac4992c35474Mathias Agopian R[0][0] = 1 - sq_q2 - sq_q3; 463301542828febc768e1df42892cfac4992c35474Mathias Agopian R[0][1] = q1_q2 - q3_q0; 473301542828febc768e1df42892cfac4992c35474Mathias Agopian R[0][2] = q1_q3 + q2_q0; 483301542828febc768e1df42892cfac4992c35474Mathias Agopian R[1][0] = q1_q2 + q3_q0; 493301542828febc768e1df42892cfac4992c35474Mathias Agopian R[1][1] = 1 - sq_q1 - sq_q3; 503301542828febc768e1df42892cfac4992c35474Mathias Agopian R[1][2] = q2_q3 - q1_q0; 513301542828febc768e1df42892cfac4992c35474Mathias Agopian R[2][0] = q1_q3 - q2_q0; 523301542828febc768e1df42892cfac4992c35474Mathias Agopian R[2][1] = q2_q3 + q1_q0; 533301542828febc768e1df42892cfac4992c35474Mathias Agopian R[2][2] = 1 - sq_q1 - sq_q2; 543301542828febc768e1df42892cfac4992c35474Mathias Agopian return R; 553301542828febc768e1df42892cfac4992c35474Mathias Agopian} 563301542828febc768e1df42892cfac4992c35474Mathias Agopian 573301542828febc768e1df42892cfac4992c35474Mathias Agopiantemplate <typename TYPE> 583301542828febc768e1df42892cfac4992c35474Mathias Agopianvec<TYPE, 4> matrixToQuat(const mat<TYPE, 3, 3>& R) { 593301542828febc768e1df42892cfac4992c35474Mathias Agopian // matrix to quaternion 603301542828febc768e1df42892cfac4992c35474Mathias Agopian 613301542828febc768e1df42892cfac4992c35474Mathias Agopian struct { 623301542828febc768e1df42892cfac4992c35474Mathias Agopian inline TYPE operator()(TYPE v) { 633301542828febc768e1df42892cfac4992c35474Mathias Agopian return v < 0 ? 0 : v; 643301542828febc768e1df42892cfac4992c35474Mathias Agopian } 653301542828febc768e1df42892cfac4992c35474Mathias Agopian } clamp; 663301542828febc768e1df42892cfac4992c35474Mathias Agopian 673301542828febc768e1df42892cfac4992c35474Mathias Agopian vec<TYPE, 4> q; 683301542828febc768e1df42892cfac4992c35474Mathias Agopian const float Hx = R[0].x; 693301542828febc768e1df42892cfac4992c35474Mathias Agopian const float My = R[1].y; 703301542828febc768e1df42892cfac4992c35474Mathias Agopian const float Az = R[2].z; 713301542828febc768e1df42892cfac4992c35474Mathias Agopian q.x = sqrtf( clamp( Hx - My - Az + 1) * 0.25f ); 723301542828febc768e1df42892cfac4992c35474Mathias Agopian q.y = sqrtf( clamp(-Hx + My - Az + 1) * 0.25f ); 733301542828febc768e1df42892cfac4992c35474Mathias Agopian q.z = sqrtf( clamp(-Hx - My + Az + 1) * 0.25f ); 743301542828febc768e1df42892cfac4992c35474Mathias Agopian q.w = sqrtf( clamp( Hx + My + Az + 1) * 0.25f ); 753301542828febc768e1df42892cfac4992c35474Mathias Agopian q.x = copysignf(q.x, R[2].y - R[1].z); 763301542828febc768e1df42892cfac4992c35474Mathias Agopian q.y = copysignf(q.y, R[0].z - R[2].x); 773301542828febc768e1df42892cfac4992c35474Mathias Agopian q.z = copysignf(q.z, R[1].x - R[0].y); 783301542828febc768e1df42892cfac4992c35474Mathias Agopian // guaranteed to be unit-quaternion 793301542828febc768e1df42892cfac4992c35474Mathias Agopian return q; 803301542828febc768e1df42892cfac4992c35474Mathias Agopian} 813301542828febc768e1df42892cfac4992c35474Mathias Agopian 823301542828febc768e1df42892cfac4992c35474Mathias Agopiantemplate <typename TYPE> 833301542828febc768e1df42892cfac4992c35474Mathias Agopianvec<TYPE, 4> normalize_quat(const vec<TYPE, 4>& q) { 843301542828febc768e1df42892cfac4992c35474Mathias Agopian vec<TYPE, 4> r(q); 853301542828febc768e1df42892cfac4992c35474Mathias Agopian if (r.w < 0) { 863301542828febc768e1df42892cfac4992c35474Mathias Agopian r = -r; 873301542828febc768e1df42892cfac4992c35474Mathias Agopian } 883301542828febc768e1df42892cfac4992c35474Mathias Agopian return normalize(r); 893301542828febc768e1df42892cfac4992c35474Mathias Agopian} 903301542828febc768e1df42892cfac4992c35474Mathias Agopian 913301542828febc768e1df42892cfac4992c35474Mathias Agopian// ----------------------------------------------------------------------- 923301542828febc768e1df42892cfac4992c35474Mathias Agopian 933301542828febc768e1df42892cfac4992c35474Mathias Agopiantypedef vec4_t quat_t; 943301542828febc768e1df42892cfac4992c35474Mathias Agopian 953301542828febc768e1df42892cfac4992c35474Mathias Agopian// ----------------------------------------------------------------------- 963301542828febc768e1df42892cfac4992c35474Mathias Agopian}; // namespace android 973301542828febc768e1df42892cfac4992c35474Mathias Agopian 983301542828febc768e1df42892cfac4992c35474Mathias Agopian#endif /* ANDROID_QUAT_H */ 99