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Diffstat (limited to 'indra/llmath/llquaternion.h')
| -rwxr-xr-x[-rw-r--r--] | indra/llmath/llquaternion.h | 110 |
1 files changed, 56 insertions, 54 deletions
diff --git a/indra/llmath/llquaternion.h b/indra/llmath/llquaternion.h index 0769f29f23..aa0b1752f4 100644..100755 --- a/indra/llmath/llquaternion.h +++ b/indra/llmath/llquaternion.h @@ -1,39 +1,37 @@ -/** +/** * @file llquaternion.h * @brief LLQuaternion class header file. * - * $LicenseInfo:firstyear=2000&license=viewergpl$ - * - * Copyright (c) 2000-2009, Linden Research, Inc. - * + * $LicenseInfo:firstyear=2000&license=viewerlgpl$ * Second Life Viewer Source Code - * The source code in this file ("Source Code") is provided by Linden Lab - * to you under the terms of the GNU General Public License, version 2.0 - * ("GPL"), unless you have obtained a separate licensing agreement - * ("Other License"), formally executed by you and Linden Lab. Terms of - * the GPL can be found in doc/GPL-license.txt in this distribution, or - * online at http://secondlifegrid.net/programs/open_source/licensing/gplv2 + * Copyright (C) 2010, Linden Research, Inc. + * + * This library is free software; you can redistribute it and/or + * modify it under the terms of the GNU Lesser General Public + * License as published by the Free Software Foundation; + * version 2.1 of the License only. * - * There are special exceptions to the terms and conditions of the GPL as - * it is applied to this Source Code. View the full text of the exception - * in the file doc/FLOSS-exception.txt in this software distribution, or - * online at - * http://secondlifegrid.net/programs/open_source/licensing/flossexception + * This library is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * Lesser General Public License for more details. * - * By copying, modifying or distributing this software, you acknowledge - * that you have read and understood your obligations described above, - * and agree to abide by those obligations. + * You should have received a copy of the GNU Lesser General Public + * License along with this library; if not, write to the Free Software + * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA * - * ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO - * WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY, - * COMPLETENESS OR PERFORMANCE. + * Linden Research, Inc., 945 Battery Street, San Francisco, CA 94111 USA * $/LicenseInfo$ */ #ifndef LLQUATERNION_H #define LLQUATERNION_H -#include "llmath.h" +#include <iostream> + +#ifndef LLMATH_H //enforce specific include order to avoid tangling inline dependencies +#error "Please include llmath.h first." +#endif class LLVector4; class LLVector3; @@ -73,6 +71,9 @@ public: void quantize8(F32 lower, F32 upper); // changes the vector to reflect quatization void loadIdentity(); // Loads the quaternion that represents the identity rotation + bool isEqualEps(const LLQuaternion &quat, F32 epsilon) const; + bool isNotEqualEps(const LLQuaternion &quat, F32 epsilon) const; + const LLQuaternion& set(F32 x, F32 y, F32 z, F32 w); // Sets Quaternion to normalize(x, y, z, w) const LLQuaternion& set(const LLQuaternion &quat); // Copies Quaternion const LLQuaternion& set(const F32 *q); // Sets Quaternion to normalize(quat[VX], quat[VY], quat[VZ], quat[VW]) @@ -241,6 +242,21 @@ inline void LLQuaternion::loadIdentity() mQ[VW] = 1.0f; } +inline bool LLQuaternion::isEqualEps(const LLQuaternion &quat, F32 epsilon) const +{ + return ( fabs(mQ[VX] - quat.mQ[VX]) < epsilon + && fabs(mQ[VY] - quat.mQ[VY]) < epsilon + && fabs(mQ[VZ] - quat.mQ[VZ]) < epsilon + && fabs(mQ[VS] - quat.mQ[VS]) < epsilon ); +} + +inline bool LLQuaternion::isNotEqualEps(const LLQuaternion &quat, F32 epsilon) const +{ + return ( fabs(mQ[VX] - quat.mQ[VX]) > epsilon + || fabs(mQ[VY] - quat.mQ[VY]) > epsilon + || fabs(mQ[VZ] - quat.mQ[VZ]) > epsilon + || fabs(mQ[VS] - quat.mQ[VS]) > epsilon ); +} inline const LLQuaternion& LLQuaternion::set(F32 x, F32 y, F32 z, F32 w) { @@ -306,43 +322,29 @@ inline const LLQuaternion& LLQuaternion::setQuat(const F32 *q) return (*this); } -// There may be a cheaper way that avoids the sqrt. -// Does sin_a = VX*VX + VY*VY + VZ*VZ? -// Copied from Matrix and Quaternion FAQ 1.12 inline void LLQuaternion::getAngleAxis(F32* angle, F32* x, F32* y, F32* z) const { - F32 cos_a = mQ[VW]; - if (cos_a > 1.0f) cos_a = 1.0f; - if (cos_a < -1.0f) cos_a = -1.0f; - - F32 sin_a = (F32) sqrt( 1.0f - cos_a * cos_a ); - - if ( fabs( sin_a ) < 0.0005f ) - sin_a = 1.0f; - else - sin_a = 1.f/sin_a; - - F32 temp_angle = 2.0f * (F32) acos( cos_a ); - if (temp_angle > F_PI) + F32 v = sqrtf(mQ[VX] * mQ[VX] + mQ[VY] * mQ[VY] + mQ[VZ] * mQ[VZ]); // length of the vector-component + if (v > FP_MAG_THRESHOLD) { - // The (angle,axis) pair should never have angles outside [PI, -PI] - // since we want the _shortest_ (angle,axis) solution. - // Since acos is defined for [0, PI], and we multiply by 2.0, we - // can push the angle outside the acceptible range. - // When this happens we set the angle to the other portion of a - // full 2PI rotation, and negate the axis, which reverses the - // direction of the rotation (by the right-hand rule). - *angle = 2.f * F_PI - temp_angle; - *x = - mQ[VX] * sin_a; - *y = - mQ[VY] * sin_a; - *z = - mQ[VZ] * sin_a; + F32 oomag = 1.0f / v; + F32 w = mQ[VW]; + if (w < 0.0f) + { + w = -w; // make VW positive + oomag = -oomag; // invert the axis + } + *x = mQ[VX] * oomag; // normalize the axis + *y = mQ[VY] * oomag; + *z = mQ[VZ] * oomag; + *angle = 2.0f * atan2f(v, w); // get the angle } else { - *angle = temp_angle; - *x = mQ[VX] * sin_a; - *y = mQ[VY] * sin_a; - *z = mQ[VZ] * sin_a; + *angle = 0.0f; // no rotation + *x = 0.0f; // around some dummy axis + *y = 0.0f; + *z = 1.0f; } } |