1 module radeonrays.math.quaternion; 2 3 /********************************************************************** 4 Copyright (c) 2016 Advanced Micro Devices, Inc. All rights reserved. 5 6 Permission is hereby granted, free of charge, to any person obtaining a copy 7 of this software and associated documentation files (the "Software"), to deal 8 in the Software without restriction, including without limitation the rights 9 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 10 copies of the Software, and to permit persons to whom the Software is 11 furnished to do so, subject to the following conditions: 12 13 The above copyright notice and this permission notice shall be included in 14 all copies or substantial portions of the Software. 15 16 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 17 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 18 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 19 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 20 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 21 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 22 THE SOFTWARE. 23 ********************************************************************/ 24 25 import radeonrays.math.matrix; 26 import core.stdc.math; 27 28 extern(C++,"RadeonRays") 29 { 30 struct quaternion 31 { 32 public: 33 //quaternion (float xx = 0.f, float yy = 0.f, float zz = 0.f, float ww = 1.f) : x(xx), y(yy), z(zz), w(ww) {} 34 35 //explicit quaternion( const vector<T,4>& v ); 36 /// create quaternion from a orthogonal(!) matrix 37 /// make sure the matrix is ORTHOGONAL 38 //explicit quaternion( const matrix& m ); 39 40 /// convert quaternion to matrix 41 //void to_matrix( matrix<T,4,4>& pM ) const; 42 void to_matrix(ref matrix m) const; 43 44 /*quaternion operator -() const { return quaternion(-x, -y, -z, -w); } 45 quaternion& operator +=( quaternion const& o ) { x+=o.x; y+=o.y; z+=o.z; w+=o.w; return *this; } 46 quaternion& operator -=( quaternion const& o ) { x-=o.x; y-=o.y; z-=o.z; w-=o.w; return *this; } 47 quaternion& operator *=( quaternion const& o ) { x*=o.x; y*=o.y; z*=o.z; w*=o.w; return *this; } 48 quaternion& operator *=( float a ) { x*=a; y*=a; z*=a; w*=a; return *this; } 49 quaternion& operator /=( float a ) { float inva = 1.f/a; x*=inva; y*=inva; z*=inva; w*=inva; return *this; }*/ 50 51 quaternion conjugate() const { return quaternion(-x, -y, -z, w); } 52 quaternion inverse() const; 53 54 float sqnorm() const { return x * x + y * y + z * z + w * w; } 55 float norm() const { return sqrt(sqnorm()); } 56 57 float x, y, z, w = 1; 58 }; 59 60 /*inline quaternion::quaternion (const matrix& m) 61 { 62 float tr = m.m00 + m.m11 + m.m22; 63 64 if (tr > 0) 65 { 66 float S = sqrt(tr+1.f) * 2; 67 w = 0.25f * S; 68 x = (m.m21 - m.m12) / S; 69 y = (m.m02 - m.m20) / S; 70 z = (m.m10 - m.m01) / S; 71 } 72 else if ((m.m00 > m.m11)&(m.m00 > m.m22)) 73 { 74 float S = sqrt(1.f + m.m00 - m.m11 - m.m22) * 2; 75 w = (m.m21 - m.m12) / S; 76 x = 0.25f * S; 77 y = (m.m01 + m.m10) / S; 78 z = (m.m02 + m.m20) / S; 79 } 80 else if (m.m11 > m.m22) 81 { 82 float S = sqrt(1.f + m.m11 - m.m00 - m.m22) * 2; // S=4*qy 83 w = (m.m02 - m.m20) / S; 84 x = (m.m01 + m.m10) / S; 85 y = 0.25f * S; 86 z = (m.m12 + m.m21) / S; 87 } 88 else 89 { 90 float S = sqrt(1.f + m.m22 - m.m00 - m.m11) * 2; // S=4*qz 91 w = (m.m10 - m.m01) / S; 92 x = (m.m02 + m.m20) / S; 93 y = (m.m12 + m.m21) / S; 94 z = 0.25f * S; 95 } 96 } 97 98 inline quaternion quaternion::inverse() const 99 { 100 if (sqnorm() == 0) 101 { 102 return quaternion(); 103 } 104 else 105 { 106 quaternion q = conjugate(); 107 q /= sqnorm(); 108 return q; 109 } 110 } 111 112 inline quaternion operator * (quaternion const& q1, quaternion const& q2) 113 { 114 quaternion res; 115 res.x = q1.y*q2.z - q1.z*q2.y + q2.w*q1.x + q1.w*q2.x; 116 res.y = q1.z*q2.x - q1.x*q2.z + q2.w*q1.y + q1.w*q2.y; 117 res.z = q1.x*q2.y - q2.x*q1.y + q2.w*q1.z + q1.w*q2.z; 118 res.w = q1.w*q2.w - q1.x*q2.x - q1.y*q2.y - q1.z*q2.z; 119 return res; 120 } 121 122 inline quaternion operator / ( const quaternion& q, float a ) 123 { 124 quaternion res = q; 125 return res /= a; 126 } 127 128 inline quaternion operator + ( const quaternion& q1, const quaternion& q2 ) 129 { 130 quaternion res = q1; 131 return res += q2; 132 } 133 134 inline quaternion operator - ( const quaternion& q1, const quaternion& q2 ) 135 { 136 quaternion res = q1; 137 return res -= q2; 138 } 139 140 inline quaternion operator * ( const quaternion& q, float a ) 141 { 142 quaternion res = q; 143 return res *= a; 144 } 145 146 inline quaternion operator * ( float a, quaternion const& q ) 147 { 148 quaternion res = q; 149 return res *= a; 150 } 151 152 inline quaternion normalize( quaternion const& q ) 153 { 154 float norm = q.norm(); 155 return q / norm; 156 } 157 158 inline void quaternion::to_matrix( matrix& m ) const 159 { 160 float s = 2.f/norm(); 161 m.m00 = 1 - s*(y*y + z*z); m.m01 = s * (x*y - w*z); m.m02 = s * (x*z + w*y); m.m03 = 0; 162 m.m10 = s * (x*y + w*z); m.m11 = 1 - s * (x*x + z*z); m.m12 = s * (y*z - w*x); m.m13 = 0; 163 m.m20 = s * (x*z - w*y); m.m21 = s * (y*z + w*x); m.m22 = 1 - s * (x*x + y*y); m.m23 = 0; 164 m.m30 = m.m31 = m.m32; m.m33 = 1; 165 }*/ 166 }