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android/tools/android-osx/build-tools/19.1.0/renderscript/include/rs_quaternion.rsh

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+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+/** @file rs_quaternion.rsh
+ *  \brief Quaternion routines
+ *
+ *
+ */
+
+#ifndef __RS_QUATERNION_RSH__
+#define __RS_QUATERNION_RSH__
+
+
+/**
+ * Set the quaternion components
+ * @param w component
+ * @param x component
+ * @param y component
+ * @param z component
+ */
+static void __attribute__((overloadable))
+rsQuaternionSet(rs_quaternion *q, float w, float x, float y, float z) {
+    q->w = w;
+    q->x = x;
+    q->y = y;
+    q->z = z;
+}
+
+/**
+ * Set the quaternion from another quaternion
+ * @param q destination quaternion
+ * @param rhs source quaternion
+ */
+static void __attribute__((overloadable))
+rsQuaternionSet(rs_quaternion *q, const rs_quaternion *rhs) {
+    q->w = rhs->w;
+    q->x = rhs->x;
+    q->y = rhs->y;
+    q->z = rhs->z;
+}
+
+/**
+ * Multiply quaternion by a scalar
+ * @param q quaternion to multiply
+ * @param s scalar
+ */
+static void __attribute__((overloadable))
+rsQuaternionMultiply(rs_quaternion *q, float s) {
+    q->w *= s;
+    q->x *= s;
+    q->y *= s;
+    q->z *= s;
+}
+
+/**
+ * Add two quaternions
+ * @param q destination quaternion to add to
+ * @param rsh right hand side quaternion to add
+ */
+static void
+rsQuaternionAdd(rs_quaternion *q, const rs_quaternion *rhs) {
+    q->w *= rhs->w;
+    q->x *= rhs->x;
+    q->y *= rhs->y;
+    q->z *= rhs->z;
+}
+
+/**
+ * Loads a quaternion that represents a rotation about an arbitrary unit vector
+ * @param q quaternion to set
+ * @param rot angle to rotate by
+ * @param x component of a vector
+ * @param y component of a vector
+ * @param x component of a vector
+ */
+static void
+rsQuaternionLoadRotateUnit(rs_quaternion *q, float rot, float x, float y, float z) {
+    rot *= (float)(M_PI / 180.0f) * 0.5f;
+    float c = cos(rot);
+    float s = sin(rot);
+
+    q->w = c;
+    q->x = x * s;
+    q->y = y * s;
+    q->z = z * s;
+}
+
+/**
+ * Loads a quaternion that represents a rotation about an arbitrary vector
+ * (doesn't have to be unit)
+ * @param q quaternion to set
+ * @param rot angle to rotate by
+ * @param x component of a vector
+ * @param y component of a vector
+ * @param x component of a vector
+ */
+static void
+rsQuaternionLoadRotate(rs_quaternion *q, float rot, float x, float y, float z) {
+    const float len = x*x + y*y + z*z;
+    if (len != 1) {
+        const float recipLen = 1.f / sqrt(len);
+        x *= recipLen;
+        y *= recipLen;
+        z *= recipLen;
+    }
+    rsQuaternionLoadRotateUnit(q, rot, x, y, z);
+}
+
+/**
+ * Conjugates the quaternion
+ * @param q quaternion to conjugate
+ */
+static void
+rsQuaternionConjugate(rs_quaternion *q) {
+    q->x = -q->x;
+    q->y = -q->y;
+    q->z = -q->z;
+}
+
+/**
+ * Dot product of two quaternions
+ * @param q0 first quaternion
+ * @param q1 second quaternion
+ * @return dot product between q0 and q1
+ */
+static float
+rsQuaternionDot(const rs_quaternion *q0, const rs_quaternion *q1) {
+    return q0->w*q1->w + q0->x*q1->x + q0->y*q1->y + q0->z*q1->z;
+}
+
+/**
+ * Normalizes the quaternion
+ * @param q quaternion to normalize
+ */
+static void
+rsQuaternionNormalize(rs_quaternion *q) {
+    const float len = rsQuaternionDot(q, q);
+    if (len != 1) {
+        const float recipLen = 1.f / sqrt(len);
+        rsQuaternionMultiply(q, recipLen);
+    }
+}
+
+/**
+ * Multiply quaternion by another quaternion
+ * @param q destination quaternion
+ * @param rhs right hand side quaternion to multiply by
+ */
+static void __attribute__((overloadable))
+rsQuaternionMultiply(rs_quaternion *q, const rs_quaternion *rhs) {
+    rs_quaternion qtmp;
+    rsQuaternionSet(&qtmp, q);
+
+    q->w = qtmp.w*rhs->w - qtmp.x*rhs->x - qtmp.y*rhs->y - qtmp.z*rhs->z;
+    q->x = qtmp.w*rhs->x + qtmp.x*rhs->w + qtmp.y*rhs->z - qtmp.z*rhs->y;
+    q->y = qtmp.w*rhs->y + qtmp.y*rhs->w + qtmp.z*rhs->x - qtmp.x*rhs->z;
+    q->z = qtmp.w*rhs->z + qtmp.z*rhs->w + qtmp.x*rhs->y - qtmp.y*rhs->x;
+    rsQuaternionNormalize(q);
+}
+
+/**
+ * Performs spherical linear interpolation between two quaternions
+ * @param q result quaternion from interpolation
+ * @param q0 first param
+ * @param q1 second param
+ * @param t how much to interpolate by
+ */
+static void
+rsQuaternionSlerp(rs_quaternion *q, const rs_quaternion *q0, const rs_quaternion *q1, float t) {
+    if (t <= 0.0f) {
+        rsQuaternionSet(q, q0);
+        return;
+    }
+    if (t >= 1.0f) {
+        rsQuaternionSet(q, q1);
+        return;
+    }
+
+    rs_quaternion tempq0, tempq1;
+    rsQuaternionSet(&tempq0, q0);
+    rsQuaternionSet(&tempq1, q1);
+
+    float angle = rsQuaternionDot(q0, q1);
+    if (angle < 0) {
+        rsQuaternionMultiply(&tempq0, -1.0f);
+        angle *= -1.0f;
+    }
+
+    float scale, invScale;
+    if (angle + 1.0f > 0.05f) {
+        if (1.0f - angle >= 0.05f) {
+            float theta = acos(angle);
+            float invSinTheta = 1.0f / sin(theta);
+            scale = sin(theta * (1.0f - t)) * invSinTheta;
+            invScale = sin(theta * t) * invSinTheta;
+        } else {
+            scale = 1.0f - t;
+            invScale = t;
+        }
+    } else {
+        rsQuaternionSet(&tempq1, tempq0.z, -tempq0.y, tempq0.x, -tempq0.w);
+        scale = sin(M_PI * (0.5f - t));
+        invScale = sin(M_PI * t);
+    }
+
+    rsQuaternionSet(q, tempq0.w*scale + tempq1.w*invScale, tempq0.x*scale + tempq1.x*invScale,
+                        tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale);
+}
+
+/**
+ * Computes rotation matrix from the normalized quaternion
+ * @param m resulting matrix
+ * @param p normalized quaternion
+ */
+static void rsQuaternionGetMatrixUnit(rs_matrix4x4 *m, const rs_quaternion *q) {
+    float xx = q->x * q->x;
+    float xy = q->x * q->y;
+    float xz = q->x * q->z;
+    float xw = q->x * q->w;
+    float yy = q->y * q->y;
+    float yz = q->y * q->z;
+    float yw = q->y * q->w;
+    float zz = q->z * q->z;
+    float zw = q->z * q->w;
+
+    m->m[0]  = 1.0f - 2.0f * ( yy + zz );
+    m->m[4]  =        2.0f * ( xy - zw );
+    m->m[8]  =        2.0f * ( xz + yw );
+    m->m[1]  =        2.0f * ( xy + zw );
+    m->m[5]  = 1.0f - 2.0f * ( xx + zz );
+    m->m[9]  =        2.0f * ( yz - xw );
+    m->m[2]  =        2.0f * ( xz - yw );
+    m->m[6]  =        2.0f * ( yz + xw );
+    m->m[10] = 1.0f - 2.0f * ( xx + yy );
+    m->m[3]  = m->m[7] = m->m[11] = m->m[12] = m->m[13] = m->m[14] = 0.0f;
+    m->m[15] = 1.0f;
+}
+
+#endif
+