ruby-bullet 0.0.1-x86-linux

data/deps/include/bullet/vectormath/scalar/quat_aos.h

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+/*
+   Copyright (C) 2009 Sony Computer Entertainment Inc.
+   All rights reserved.
+
+This software is provided 'as-is', without any express or implied warranty.
+In no event will the authors be held liable for any damages arising from the use of this software.
+Permission is granted to anyone to use this software for any purpose, 
+including commercial applications, and to alter it and redistribute it freely, 
+subject to the following restrictions:
+
+1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
+2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
+3. This notice may not be removed or altered from any source distribution.
+
+*/
+
+#ifndef _VECTORMATH_QUAT_AOS_CPP_H
+#define _VECTORMATH_QUAT_AOS_CPP_H
+
+//-----------------------------------------------------------------------------
+// Definitions
+
+#ifndef _VECTORMATH_INTERNAL_FUNCTIONS
+#define _VECTORMATH_INTERNAL_FUNCTIONS
+
+#endif
+
+namespace Vectormath {
+namespace Aos {
+
+inline Quat::Quat( const Quat & quat )
+{
+    mX = quat.mX;
+    mY = quat.mY;
+    mZ = quat.mZ;
+    mW = quat.mW;
+}
+
+inline Quat::Quat( float _x, float _y, float _z, float _w )
+{
+    mX = _x;
+    mY = _y;
+    mZ = _z;
+    mW = _w;
+}
+
+inline Quat::Quat( const Vector3 & xyz, float _w )
+{
+    this->setXYZ( xyz );
+    this->setW( _w );
+}
+
+inline Quat::Quat( const Vector4 & vec )
+{
+    mX = vec.getX();
+    mY = vec.getY();
+    mZ = vec.getZ();
+    mW = vec.getW();
+}
+
+inline Quat::Quat( float scalar )
+{
+    mX = scalar;
+    mY = scalar;
+    mZ = scalar;
+    mW = scalar;
+}
+
+inline const Quat Quat::identity( )
+{
+    return Quat( 0.0f, 0.0f, 0.0f, 1.0f );
+}
+
+inline const Quat lerp( float t, const Quat & quat0, const Quat & quat1 )
+{
+    return ( quat0 + ( ( quat1 - quat0 ) * t ) );
+}
+
+inline const Quat slerp( float t, const Quat & unitQuat0, const Quat & unitQuat1 )
+{
+    Quat start;
+    float recipSinAngle, scale0, scale1, cosAngle, angle;
+    cosAngle = dot( unitQuat0, unitQuat1 );
+    if ( cosAngle < 0.0f ) {
+        cosAngle = -cosAngle;
+        start = ( -unitQuat0 );
+    } else {
+        start = unitQuat0;
+    }
+    if ( cosAngle < _VECTORMATH_SLERP_TOL ) {
+        angle = acosf( cosAngle );
+        recipSinAngle = ( 1.0f / sinf( angle ) );
+        scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle );
+        scale1 = ( sinf( ( t * angle ) ) * recipSinAngle );
+    } else {
+        scale0 = ( 1.0f - t );
+        scale1 = t;
+    }
+    return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) );
+}
+
+inline const Quat squad( float t, const Quat & unitQuat0, const Quat & unitQuat1, const Quat & unitQuat2, const Quat & unitQuat3 )
+{
+    Quat tmp0, tmp1;
+    tmp0 = slerp( t, unitQuat0, unitQuat3 );
+    tmp1 = slerp( t, unitQuat1, unitQuat2 );
+    return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 );
+}
+
+inline void loadXYZW( Quat & quat, const float * fptr )
+{
+    quat = Quat( fptr[0], fptr[1], fptr[2], fptr[3] );
+}
+
+inline void storeXYZW( const Quat & quat, float * fptr )
+{
+    fptr[0] = quat.getX();
+    fptr[1] = quat.getY();
+    fptr[2] = quat.getZ();
+    fptr[3] = quat.getW();
+}
+
+inline Quat & Quat::operator =( const Quat & quat )
+{
+    mX = quat.mX;
+    mY = quat.mY;
+    mZ = quat.mZ;
+    mW = quat.mW;
+    return *this;
+}
+
+inline Quat & Quat::setXYZ( const Vector3 & vec )
+{
+    mX = vec.getX();
+    mY = vec.getY();
+    mZ = vec.getZ();
+    return *this;
+}
+
+inline const Vector3 Quat::getXYZ( ) const
+{
+    return Vector3( mX, mY, mZ );
+}
+
+inline Quat & Quat::setX( float _x )
+{
+    mX = _x;
+    return *this;
+}
+
+inline float Quat::getX( ) const
+{
+    return mX;
+}
+
+inline Quat & Quat::setY( float _y )
+{
+    mY = _y;
+    return *this;
+}
+
+inline float Quat::getY( ) const
+{
+    return mY;
+}
+
+inline Quat & Quat::setZ( float _z )
+{
+    mZ = _z;
+    return *this;
+}
+
+inline float Quat::getZ( ) const
+{
+    return mZ;
+}
+
+inline Quat & Quat::setW( float _w )
+{
+    mW = _w;
+    return *this;
+}
+
+inline float Quat::getW( ) const
+{
+    return mW;
+}
+
+inline Quat & Quat::setElem( int idx, float value )
+{
+    *(&mX + idx) = value;
+    return *this;
+}
+
+inline float Quat::getElem( int idx ) const
+{
+    return *(&mX + idx);
+}
+
+inline float & Quat::operator []( int idx )
+{
+    return *(&mX + idx);
+}
+
+inline float Quat::operator []( int idx ) const
+{
+    return *(&mX + idx);
+}
+
+inline const Quat Quat::operator +( const Quat & quat ) const
+{
+    return Quat(
+        ( mX + quat.mX ),
+        ( mY + quat.mY ),
+        ( mZ + quat.mZ ),
+        ( mW + quat.mW )
+    );
+}
+
+inline const Quat Quat::operator -( const Quat & quat ) const
+{
+    return Quat(
+        ( mX - quat.mX ),
+        ( mY - quat.mY ),
+        ( mZ - quat.mZ ),
+        ( mW - quat.mW )
+    );
+}
+
+inline const Quat Quat::operator *( float scalar ) const
+{
+    return Quat(
+        ( mX * scalar ),
+        ( mY * scalar ),
+        ( mZ * scalar ),
+        ( mW * scalar )
+    );
+}
+
+inline Quat & Quat::operator +=( const Quat & quat )
+{
+    *this = *this + quat;
+    return *this;
+}
+
+inline Quat & Quat::operator -=( const Quat & quat )
+{
+    *this = *this - quat;
+    return *this;
+}
+
+inline Quat & Quat::operator *=( float scalar )
+{
+    *this = *this * scalar;
+    return *this;
+}
+
+inline const Quat Quat::operator /( float scalar ) const
+{
+    return Quat(
+        ( mX / scalar ),
+        ( mY / scalar ),
+        ( mZ / scalar ),
+        ( mW / scalar )
+    );
+}
+
+inline Quat & Quat::operator /=( float scalar )
+{
+    *this = *this / scalar;
+    return *this;
+}
+
+inline const Quat Quat::operator -( ) const
+{
+    return Quat(
+        -mX,
+        -mY,
+        -mZ,
+        -mW
+    );
+}
+
+inline const Quat operator *( float scalar, const Quat & quat )
+{
+    return quat * scalar;
+}
+
+inline float dot( const Quat & quat0, const Quat & quat1 )
+{
+    float result;
+    result = ( quat0.getX() * quat1.getX() );
+    result = ( result + ( quat0.getY() * quat1.getY() ) );
+    result = ( result + ( quat0.getZ() * quat1.getZ() ) );
+    result = ( result + ( quat0.getW() * quat1.getW() ) );
+    return result;
+}
+
+inline float norm( const Quat & quat )
+{
+    float result;
+    result = ( quat.getX() * quat.getX() );
+    result = ( result + ( quat.getY() * quat.getY() ) );
+    result = ( result + ( quat.getZ() * quat.getZ() ) );
+    result = ( result + ( quat.getW() * quat.getW() ) );
+    return result;
+}
+
+inline float length( const Quat & quat )
+{
+    return ::sqrtf( norm( quat ) );
+}
+
+inline const Quat normalize( const Quat & quat )
+{
+    float lenSqr, lenInv;
+    lenSqr = norm( quat );
+    lenInv = ( 1.0f / sqrtf( lenSqr ) );
+    return Quat(
+        ( quat.getX() * lenInv ),
+        ( quat.getY() * lenInv ),
+        ( quat.getZ() * lenInv ),
+        ( quat.getW() * lenInv )
+    );
+}
+
+inline const Quat Quat::rotation( const Vector3 & unitVec0, const Vector3 & unitVec1 )
+{
+    float cosHalfAngleX2, recipCosHalfAngleX2;
+    cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) );
+    recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 );
+    return Quat( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) );
+}
+
+inline const Quat Quat::rotation( float radians, const Vector3 & unitVec )
+{
+    float s, c, angle;
+    angle = ( radians * 0.5f );
+    s = sinf( angle );
+    c = cosf( angle );
+    return Quat( ( unitVec * s ), c );
+}
+
+inline const Quat Quat::rotationX( float radians )
+{
+    float s, c, angle;
+    angle = ( radians * 0.5f );
+    s = sinf( angle );
+    c = cosf( angle );
+    return Quat( s, 0.0f, 0.0f, c );
+}
+
+inline const Quat Quat::rotationY( float radians )
+{
+    float s, c, angle;
+    angle = ( radians * 0.5f );
+    s = sinf( angle );
+    c = cosf( angle );
+    return Quat( 0.0f, s, 0.0f, c );
+}
+
+inline const Quat Quat::rotationZ( float radians )
+{
+    float s, c, angle;
+    angle = ( radians * 0.5f );
+    s = sinf( angle );
+    c = cosf( angle );
+    return Quat( 0.0f, 0.0f, s, c );
+}
+
+inline const Quat Quat::operator *( const Quat & quat ) const
+{
+    return Quat(
+        ( ( ( ( mW * quat.mX ) + ( mX * quat.mW ) ) + ( mY * quat.mZ ) ) - ( mZ * quat.mY ) ),
+        ( ( ( ( mW * quat.mY ) + ( mY * quat.mW ) ) + ( mZ * quat.mX ) ) - ( mX * quat.mZ ) ),
+        ( ( ( ( mW * quat.mZ ) + ( mZ * quat.mW ) ) + ( mX * quat.mY ) ) - ( mY * quat.mX ) ),
+        ( ( ( ( mW * quat.mW ) - ( mX * quat.mX ) ) - ( mY * quat.mY ) ) - ( mZ * quat.mZ ) )
+    );
+}
+
+inline Quat & Quat::operator *=( const Quat & quat )
+{
+    *this = *this * quat;
+    return *this;
+}
+
+inline const Vector3 rotate( const Quat & quat, const Vector3 & vec )
+{
+    float tmpX, tmpY, tmpZ, tmpW;
+    tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) );
+    tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) );
+    tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) );
+    tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) );
+    return Vector3(
+        ( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ),
+        ( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ),
+        ( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) )
+    );
+}
+
+inline const Quat conj( const Quat & quat )
+{
+    return Quat( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() );
+}
+
+inline const Quat select( const Quat & quat0, const Quat & quat1, bool select1 )
+{
+    return Quat(
+        ( select1 )? quat1.getX() : quat0.getX(),
+        ( select1 )? quat1.getY() : quat0.getY(),
+        ( select1 )? quat1.getZ() : quat0.getZ(),
+        ( select1 )? quat1.getW() : quat0.getW()
+    );
+}
+
+#ifdef _VECTORMATH_DEBUG
+
+inline void print( const Quat & quat )
+{
+    printf( "( %f %f %f %f )\n", quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
+}
+
+inline void print( const Quat & quat, const char * name )
+{
+    printf( "%s: ( %f %f %f %f )\n", name, quat.getX(), quat.getY(), quat.getZ(), quat.getW() );
+}
+
+#endif
+
+} // namespace Aos
+} // namespace Vectormath
+
+#endif