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1 | /* -*- mode: c++; c-basic-offset: 4; indent-tabs-mode: nil -*- */ |
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2 | /* |
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3 | * Copyright (c) 2004-2013 HUBzero Foundation, LLC |
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4 | * |
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5 | * Author: Insoo Woo <iwoo@purdue.edu> |
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6 | */ |
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7 | |
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8 | #include <math.h> |
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9 | |
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10 | #include <vrmath/Rotation.h> |
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11 | #include <vrmath/Vector3f.h> |
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12 | #include <vrmath/Quaternion.h> |
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13 | |
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14 | using namespace vrmath; |
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15 | |
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16 | void Rotation::set(const Vector3f &vec1, const Vector3f &vec2) |
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17 | { |
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18 | if (vec1 == vec2) { |
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19 | x = 0.0f; |
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20 | y = 0.0f; |
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21 | z = 1.0f; |
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22 | angle = 0.0f; |
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23 | return; |
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24 | } |
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25 | |
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26 | Vector3f perp = cross(vec1, vec2); |
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27 | |
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28 | float ang = atan2(perp.length(), vec1.dot(vec2)); |
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29 | |
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30 | perp = perp.normalize(); |
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31 | |
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32 | x = perp.x; |
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33 | y = perp.y; |
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34 | z = perp.z; |
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35 | angle = ang; |
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36 | } |
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37 | |
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38 | void Rotation::set(const Quaternion& quat) |
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39 | { |
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40 | //if (quat.w > 1) quat.normalize(); |
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41 | |
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42 | angle = acos(quat.w) * 2.0f; |
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43 | float scale = sqrt(1 - quat.w * quat.w); |
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44 | if (angle < 1.0e-6f) { |
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45 | x = 1; |
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46 | y = 0; |
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47 | z = 0; |
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48 | } else if (scale < 1.0e-6f) { |
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49 | x = quat.x; |
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50 | y = quat.y; |
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51 | z = quat.z; |
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52 | } else { |
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53 | x = quat.x / scale; |
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54 | y = quat.y / scale; |
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55 | z = quat.z / scale; |
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56 | } |
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57 | } |
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58 | |
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59 | Quaternion Rotation::getQuaternion() const |
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60 | { |
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61 | Quaternion result; |
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62 | |
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63 | result.w = cos(angle / 2.0); |
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64 | double sinHalfAngle = sin(angle / 2.0); |
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65 | result.x = x * sinHalfAngle; |
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66 | result.y = y * sinHalfAngle; |
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67 | result.z = z * sinHalfAngle; |
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68 | |
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69 | return result; |
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70 | } |
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