Changeset 2576 for trunk/packages

Timestamp:

Sep 25, 2011, 3:12:59 PM (13 years ago)

Author:

ldelgass

Message:

Move inline quaternion utility functions to new RpMath?.h header

Location:

trunk/packages/vizservers/vtkvis

Files:

• Makefile.in (modified) (1 diff)
• RpMath.h (added)
• RpVtkRenderer.cpp (modified) (2 diffs)

trunk/packages/vizservers/vtkvis/Makefile.in

@@ -155 +155 @@
 RpVolume.o: RpVolume.h RpVtkGraphicsObject.h RpVtkDataSet.h ColorMap.h Trace.h
 RpVtkDataSet.o: RpVtkDataSet.h Trace.h
-RpVtkRenderer.o: RpVtkRenderer.h vtkRpCubeAxesActor2D.h RpVtkDataSet.h RpContour2D.h RpContour3D.h RpCutplane.h RpGlyphs.h RpHeightMap.h RpLIC.h RpMolecule.h RpPolyData.h RpPseudoColor.h RpStreamlines.h RpVolume.h ColorMap.h Trace.h
+RpVtkRenderer.o: RpVtkRenderer.h RpMath.h vtkRpCubeAxesActor2D.h RpVtkDataSet.h RpContour2D.h RpContour3D.h RpCutplane.h RpGlyphs.h RpHeightMap.h RpLIC.h RpMolecule.h RpPolyData.h RpPseudoColor.h RpStreamlines.h RpVolume.h ColorMap.h Trace.h
 RpVtkRendererCmd.o: RpVtkRenderer.h vtkRpCubeAxesActor2D.h RpVtkDataSet.h RpContour2D.h RpContour3D.h RpCutplane.h RpGlyphs.h RpHeightMap.h RpLIC.h RpMolecule.h RpPolyData.h RpPseudoColor.h RpStreamlines.h RpVolume.h ColorMap.h ReadBuffer.h ResponseQueue.h Trace.h CmdProc.h PPMWriter.h TGAWriter.h
 RpVtkRenderServer.o: RpVtkRenderServer.h RpVtkRendererCmd.h RpVtkRenderer.h vtkRpCubeAxesActor2D.h ReadBuffer.h ResponseQueue.h Trace.h PPMWriter.h TGAWriter.h

trunk/packages/vizservers/vtkvis/RpVtkRenderer.cpp

@@ -43 +43 @@
 
 #include "RpVtkRenderer.h"
+#include "RpMath.h"
 #include "ColorMap.h"
 #include "Trace.h"
@@ -7885 +7886 @@
 }
 
-inline void quaternionToMatrix4x4(const double quat[4], vtkMatrix4x4& mat)
-{
-    double ww = quat[0]*quat[0];
-    double wx = quat[0]*quat[1];
-    double wy = quat[0]*quat[2];
-    double wz = quat[0]*quat[3];
-
-    double xx = quat[1]*quat[1];
-    double yy = quat[2]*quat[2];
-    double zz = quat[3]*quat[3];
-
-    double xy = quat[1]*quat[2];
-    double xz = quat[1]*quat[3];
-    double yz = quat[2]*quat[3];
-
-    double rr = xx + yy + zz;
-    // normalization factor, just in case quaternion was not normalized
-    double f = double(1)/double(sqrt(ww + rr));
-    double s = (ww - rr)*f;
-    f *= 2;
-
-    mat[0][0] = xx*f + s;
-    mat[1][0] = (xy + wz)*f;
-    mat[2][0] = (xz - wy)*f;
-
-    mat[0][1] = (xy - wz)*f;
-    mat[1][1] = yy*f + s;
-    mat[2][1] = (yz + wx)*f;
-
-    mat[0][2] = (xz + wy)*f;
-    mat[1][2] = (yz - wx)*f;
-    mat[2][2] = zz*f + s;
-}
-
-inline void quaternionToTransposeMatrix4x4(const double quat[4], vtkMatrix4x4& mat)
-{
-    double ww = quat[0]*quat[0];
-    double wx = quat[0]*quat[1];
-    double wy = quat[0]*quat[2];
-    double wz = quat[0]*quat[3];
-
-    double xx = quat[1]*quat[1];
-    double yy = quat[2]*quat[2];
-    double zz = quat[3]*quat[3];
-
-    double xy = quat[1]*quat[2];
-    double xz = quat[1]*quat[3];
-    double yz = quat[2]*quat[3];
-
-    double rr = xx + yy + zz;
-    // normalization factor, just in case quaternion was not normalized
-    double f = double(1)/double(sqrt(ww + rr));
-    double s = (ww - rr)*f;
-    f *= 2;
-
-    mat[0][0] = xx*f + s;
-    mat[0][1] = (xy + wz)*f;
-    mat[0][2] = (xz - wy)*f;
-
-    mat[1][0] = (xy - wz)*f;
-    mat[1][1] = yy*f + s;
-    mat[1][2] = (yz + wx)*f;
-
-    mat[2][0] = (xz + wy)*f;
-    mat[2][1] = (yz - wx)*f;
-    mat[2][2] = zz*f + s;
-}
-
-inline double *quatMult(const double q1[4], const double q2[4], double result[4])
-{
-    double q1w = q1[0];
-    double q1x = q1[1];
-    double q1y = q1[2];
-    double q1z = q1[3];
-    double q2w = q2[0];
-    double q2x = q2[1];
-    double q2y = q2[2];
-    double q2z = q2[3];
-    result[0] = (q1w*q2w) - (q1x*q2x) - (q1y*q2y) - (q1z*q2z);
-    result[1] = (q1w*q2x) + (q1x*q2w) + (q1y*q2z) - (q1z*q2y);
-    result[2] = (q1w*q2y) + (q1y*q2w) + (q1z*q2x) - (q1x*q2z);
-    result[3] = (q1w*q2z) + (q1z*q2w) + (q1x*q2y) - (q1y*q2x);
-    return result;
-}
-
-inline double *quatConjugate(const double quat[4], double result[4])
-{
-    result[1] = -quat[1];
-    result[2] = -quat[2];
-    result[3] = -quat[3];
-    return result;
-}
-
-inline double *quatReciprocal(const double quat[4], double result[4])
-{
-    double denom = 
-        quat[0]*quat[0] + 
-        quat[1]*quat[1] + 
-        quat[2]*quat[2] + 
-        quat[3]*quat[3];
-    quatConjugate(quat, result);
-    for (int i = 0; i < 4; i++) {
-        result[i] /= denom;
-    }
-    return result;
-}
-
-inline double *quatReciprocal(double quat[4])
-{
-    return quatReciprocal(quat, quat);
-}
-
-inline void copyQuat(const double quat[4], double result[4])
-{
-    memcpy(result, quat, sizeof(double)*4);
-}
-
 /**
  * \brief Set the orientation of the camera from a quaternion