2.5 - Code shuffling in arithb.c
* Moved all the euler-rotation functions so that they were near each other in the file. * Tagged all functions relevant to axis-angle rotations
This commit is contained in:
Joshua Leung
@@ -1610,7 +1610,7 @@ void VecUpMat3(float *vec, float mat[][3], short axis)
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}
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/* A & M Watt, Advanced animation and rendering techniques, 1992 ACM press */
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void QuatInterpolW(float *, float *, float *, float );
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void QuatInterpolW(float *, float *, float *, float ); // XXX why this?
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void QuatInterpolW(float *result, float *quat1, float *quat2, float t)
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{
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@@ -2943,137 +2943,6 @@ void EulToQuat(float *eul, float *quat)
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quat[3] = cj*cs - sj*sc;
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}
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void VecRotToMat3(float *vec, float phi, float mat[][3])
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{
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/* rotation of phi radials around vec */
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float vx, vx2, vy, vy2, vz, vz2, co, si;
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vx= vec[0];
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vy= vec[1];
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vz= vec[2];
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vx2= vx*vx;
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vy2= vy*vy;
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vz2= vz*vz;
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co= (float)cos(phi);
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si= (float)sin(phi);
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mat[0][0]= vx2+co*(1.0f-vx2);
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mat[0][1]= vx*vy*(1.0f-co)+vz*si;
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mat[0][2]= vz*vx*(1.0f-co)-vy*si;
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mat[1][0]= vx*vy*(1.0f-co)-vz*si;
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mat[1][1]= vy2+co*(1.0f-vy2);
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mat[1][2]= vy*vz*(1.0f-co)+vx*si;
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mat[2][0]= vz*vx*(1.0f-co)+vy*si;
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mat[2][1]= vy*vz*(1.0f-co)-vx*si;
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mat[2][2]= vz2+co*(1.0f-vz2);
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}
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void VecRotToMat4(float *vec, float phi, float mat[][4])
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{
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float tmat[3][3];
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VecRotToMat3(vec, phi, tmat);
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Mat4One(mat);
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Mat4CpyMat3(mat, tmat);
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}
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void VecRotToQuat(float *vec, float phi, float *quat)
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{
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/* rotation of phi radials around vec */
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float si;
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quat[1]= vec[0];
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quat[2]= vec[1];
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quat[3]= vec[2];
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if( Normalize(quat+1) == 0.0f) {
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QuatOne(quat);
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}
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else {
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quat[0]= (float)cos( phi/2.0 );
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si= (float)sin( phi/2.0 );
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quat[1] *= si;
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quat[2] *= si;
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quat[3] *= si;
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}
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}
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/* Return the angle in degrees between vecs 1-2 and 2-3 in degrees
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If v1 is a shoulder, v2 is the elbow and v3 is the hand,
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this would return the angle at the elbow */
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float VecAngle3(float *v1, float *v2, float *v3)
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{
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float vec1[3], vec2[3];
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VecSubf(vec1, v2, v1);
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VecSubf(vec2, v2, v3);
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Normalize(vec1);
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Normalize(vec2);
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return NormalizedVecAngle2(vec1, vec2) * (float)(180.0/M_PI);
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}
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float VecAngle3_2D(float *v1, float *v2, float *v3)
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{
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float vec1[2], vec2[2];
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vec1[0] = v2[0]-v1[0];
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vec1[1] = v2[1]-v1[1];
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vec2[0] = v2[0]-v3[0];
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vec2[1] = v2[1]-v3[1];
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Normalize2(vec1);
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Normalize2(vec2);
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return NormalizedVecAngle2_2D(vec1, vec2) * (float)(180.0/M_PI);
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}
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/* Return the shortest angle in degrees between the 2 vectors */
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float VecAngle2(float *v1, float *v2)
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{
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float vec1[3], vec2[3];
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VecCopyf(vec1, v1);
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VecCopyf(vec2, v2);
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Normalize(vec1);
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Normalize(vec2);
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return NormalizedVecAngle2(vec1, vec2)* (float)(180.0/M_PI);
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}
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float NormalizedVecAngle2(float *v1, float *v2)
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{
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/* this is the same as acos(Inpf(v1, v2)), but more accurate */
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if (Inpf(v1, v2) < 0.0f) {
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float vec[3];
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vec[0]= -v2[0];
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vec[1]= -v2[1];
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vec[2]= -v2[2];
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return (float)M_PI - 2.0f*(float)saasin(VecLenf(vec, v1)/2.0f);
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}
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else
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return 2.0f*(float)saasin(VecLenf(v2, v1)/2.0f);
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}
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float NormalizedVecAngle2_2D(float *v1, float *v2)
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{
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/* this is the same as acos(Inpf(v1, v2)), but more accurate */
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if (Inp2f(v1, v2) < 0.0f) {
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float vec[2];
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vec[0]= -v2[0];
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vec[1]= -v2[1];
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return (float)M_PI - 2.0f*saasin(Vec2Lenf(vec, v1)/2.0f);
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}
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else
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return 2.0f*(float)saasin(Vec2Lenf(v2, v1)/2.0f);
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}
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void euler_rot(float *beul, float ang, char axis)
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{
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float eul[3], mat1[3][3], mat2[3][3], totmat[3][3];
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@@ -3179,6 +3048,140 @@ void Mat3ToCompatibleEul(float mat[][3], float *eul, float *oldrot)
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}
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/* axis angle to 3x3 matrix */
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void VecRotToMat3(float *vec, float phi, float mat[][3])
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{
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/* rotation of phi radials around vec */
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float vx, vx2, vy, vy2, vz, vz2, co, si;
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vx= vec[0];
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vy= vec[1];
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vz= vec[2];
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vx2= vx*vx;
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vy2= vy*vy;
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vz2= vz*vz;
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co= (float)cos(phi);
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si= (float)sin(phi);
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mat[0][0]= vx2+co*(1.0f-vx2);
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mat[0][1]= vx*vy*(1.0f-co)+vz*si;
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mat[0][2]= vz*vx*(1.0f-co)-vy*si;
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mat[1][0]= vx*vy*(1.0f-co)-vz*si;
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mat[1][1]= vy2+co*(1.0f-vy2);
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mat[1][2]= vy*vz*(1.0f-co)+vx*si;
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mat[2][0]= vz*vx*(1.0f-co)+vy*si;
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mat[2][1]= vy*vz*(1.0f-co)-vx*si;
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mat[2][2]= vz2+co*(1.0f-vz2);
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}
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/* axis angle to 4x4 matrix */
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void VecRotToMat4(float *vec, float phi, float mat[][4])
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{
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float tmat[3][3];
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VecRotToMat3(vec, phi, tmat);
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Mat4One(mat);
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Mat4CpyMat3(mat, tmat);
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}
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/* axis angle to quaternion */
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void VecRotToQuat(float *vec, float phi, float *quat)
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{
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/* rotation of phi radials around vec */
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float si;
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quat[1]= vec[0];
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quat[2]= vec[1];
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quat[3]= vec[2];
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if( Normalize(quat+1) == 0.0f) {
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QuatOne(quat);
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}
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else {
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quat[0]= (float)cos( phi/2.0 );
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si= (float)sin( phi/2.0 );
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quat[1] *= si;
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quat[2] *= si;
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quat[3] *= si;
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}
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}
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/* Return the angle in degrees between vecs 1-2 and 2-3 in degrees
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If v1 is a shoulder, v2 is the elbow and v3 is the hand,
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this would return the angle at the elbow */
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float VecAngle3(float *v1, float *v2, float *v3)
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{
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float vec1[3], vec2[3];
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VecSubf(vec1, v2, v1);
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VecSubf(vec2, v2, v3);
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Normalize(vec1);
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Normalize(vec2);
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return NormalizedVecAngle2(vec1, vec2) * (float)(180.0/M_PI);
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}
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float VecAngle3_2D(float *v1, float *v2, float *v3)
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{
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float vec1[2], vec2[2];
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vec1[0] = v2[0]-v1[0];
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vec1[1] = v2[1]-v1[1];
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vec2[0] = v2[0]-v3[0];
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vec2[1] = v2[1]-v3[1];
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Normalize2(vec1);
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Normalize2(vec2);
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return NormalizedVecAngle2_2D(vec1, vec2) * (float)(180.0/M_PI);
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}
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/* Return the shortest angle in degrees between the 2 vectors */
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float VecAngle2(float *v1, float *v2)
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{
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float vec1[3], vec2[3];
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VecCopyf(vec1, v1);
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VecCopyf(vec2, v2);
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Normalize(vec1);
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Normalize(vec2);
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return NormalizedVecAngle2(vec1, vec2)* (float)(180.0/M_PI);
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}
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float NormalizedVecAngle2(float *v1, float *v2)
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{
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/* this is the same as acos(Inpf(v1, v2)), but more accurate */
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if (Inpf(v1, v2) < 0.0f) {
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float vec[3];
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vec[0]= -v2[0];
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vec[1]= -v2[1];
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vec[2]= -v2[2];
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return (float)M_PI - 2.0f*(float)saasin(VecLenf(vec, v1)/2.0f);
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}
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else
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return 2.0f*(float)saasin(VecLenf(v2, v1)/2.0f);
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}
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float NormalizedVecAngle2_2D(float *v1, float *v2)
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{
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/* this is the same as acos(Inpf(v1, v2)), but more accurate */
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if (Inp2f(v1, v2) < 0.0f) {
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float vec[2];
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vec[0]= -v2[0];
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vec[1]= -v2[1];
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return (float)M_PI - 2.0f*saasin(Vec2Lenf(vec, v1)/2.0f);
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}
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else
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return 2.0f*(float)saasin(Vec2Lenf(v2, v1)/2.0f);
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}
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/* ******************************************** */
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void SizeToMat3( float *size, float mat[][3])
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@@ -4745,6 +4748,8 @@ void LocQuatSizeToMat4(float mat[][4], float loc[3], float quat[4], float size[3
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mat[3][2] = loc[2];
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}
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/********************************************************/
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/* Tangents */
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/* For normal map tangents we need to detect uv boundaries, and only average
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