1 files changed, 176 insertions, 0 deletions

diff --git a/src/others/mimesh/libg3d-0.0.8/src/quat.c b/src/others/mimesh/libg3d-0.0.8/src/quat.c
new file mode 100644
index 0000000..384b956
--- /dev/null
+++ b/src/others/mimesh/libg3d-0.0.8/src/quat.c
@@ -0,0 +1,176 @@
+/* $Id:$ */
+
+/*
+    libg3d - 3D object loading library
+
+    Copyright (C) 2005-2009  Markus Dahms <mad@automagically.de>
+
+    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; either
+    version 2.1 of the License, or (at your option) any later version.
+
+    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.
+
+    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 St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+/*
+ * some parts based on "trackball.c"
+ *
+ * (c) Copyright 1993, 1994, Silicon Graphics, Inc.
+ * ALL RIGHTS RESERVED
+ * Permission to use, copy, modify, and distribute this software for
+ * any purpose and without fee is hereby granted, provided that the above
+ * copyright notice appear in all copies and that both the copyright notice
+ * and this permission notice appear in supporting documentation, and that
+ * the name of Silicon Graphics, Inc. not be used in advertising
+ * or publicity pertaining to distribution of the software without specific,
+ * written prior permission.
+ */
+
+#include <math.h>
+
+#include <g3d/types.h>
+#include <g3d/vector.h>
+#include <g3d/matrix.h>
+
+EAPI
+gboolean g3d_quat_rotate(G3DQuat *q, G3DVector *axis, G3DFloat angle)
+{
+        gint32 i;
+
+        g3d_vector_unify(axis + 0, axis + 1, axis + 2);
+        for(i = 0; i < 3; i ++)
+                q[i] = axis[i] * sin(angle / 2.0);
+        q[3] = cos(angle / 2.0);
+
+        return TRUE;
+}
+
+EAPI
+gboolean g3d_quat_normalize(G3DQuat *q)
+{
+        gint32 i;
+        G3DDouble div = 0;
+
+        for(i = 0; i < 4; i ++)
+                div += (q[i] * q[i]);
+        for(i = 0; i < 4; i ++)
+                q[i] /= div;
+
+        return TRUE;
+}
+
+EAPI
+gboolean g3d_quat_add(G3DQuat *qr, G3DQuat *q1, G3DQuat *q2)
+{
+        gint32 i;
+        G3DQuat tr[4], t1[4], t2[4], t3[4];
+
+        for(i = 0; i < 3; i ++)
+                t1[i] = q1[i] * q2[3];
+        for(i = 0; i < 3; i ++)
+                t2[i] = q2[i] * q1[3];
+        g3d_vector_normal(q2[0], q2[1], q2[2], q1[0], q1[1], q1[2],
+                t3, t3 + 1, t3 + 2);
+        for(i = 0; i < 3; i ++)
+                tr[i] = t1[i] + t2[i] + t3[i];
+        tr[3] = q1[3] * q2[3] -
+                (q1[0] * q2[0] + q1[1] * q2[1] + q1[2] * q2[2]);
+        for(i = 0; i < 4; i ++)
+                qr[i] = tr[i];
+
+        return TRUE;
+}
+
+static inline G3DVector trackball_projection(G3DVector x, G3DVector y,
+        G3DFloat r)
+{
+        G3DDouble d, t;
+
+        d = sqrt(x * x + y * y);
+        if(d < (r * 0.70710678118654752440))
+                return sqrt(r * r - d * d);
+        t = r / 1.41421356237309504880;
+        return t * t / d;
+}
+
+EAPI
+gboolean g3d_quat_trackball(G3DQuat *q, G3DFloat x1, G3DFloat y1,
+        G3DFloat x2, G3DFloat y2, G3DFloat r)
+{
+        G3DVector axis[3], z1, z2, dx, dy, dz;
+        G3DDouble angle, t;
+
+        if((x1 == x2) && (y1 == y2)) {
+                q[0] = q[1] = q[2] = 0.0;
+                q[3] = 1.0;
+                return TRUE;
+        }
+
+        z1 = trackball_projection(x1, y1, r);
+        z2 = trackball_projection(x2, y2, r);
+
+        g3d_vector_normal(x2, y2, z2, x1, y1, z1, axis, axis + 1, axis + 2);
+
+        dx = x1 - x2;
+        dy = y1 - y2;
+        dz = z1 - z2;
+        t = sqrt(dx * dx + dy * dy + dz * dz) / (2.0 * r);
+        t = CLAMP(t, -1.0, 1.0);
+        angle = 2.0 * asin(t);
+
+        return g3d_quat_rotate(q, axis, angle);
+}
+
+EAPI
+gboolean g3d_quat_to_matrix(G3DQuat *q, G3DMatrix *matrix)
+{
+        g3d_matrix_identity(matrix);
+
+        matrix[0 * 4 + 0] = 1.0 - 2.0 * (q[1] * q[1] + q[2] * q[2]);
+        matrix[0 * 4 + 1] = 2.0 * (q[0] * q[1] - q[2] * q[3]);
+        matrix[0 * 4 + 2] = 2.0 * (q[2] * q[0] + q[1] * q[3]);
+
+        matrix[1 * 4 + 0] = 2.0 * (q[0] * q[1] + q[2] * q[3]);
+        matrix[1 * 4 + 1] = 1.0 - 2.0 * (q[2] * q[2] + q[0] * q[0]);
+        matrix[1 * 4 + 2] = 2.0 * (q[1] * q[2] - q[0] * q[3]);
+
+        matrix[2 * 4 + 0] = 2.0 * (q[2] * q[0] - q[1] * q[3]);
+        matrix[2 * 4 + 1] = 2.0 * (q[1] * q[2] + q[0] * q[3]);
+        matrix[2 * 4 + 2] = 1.0 - 2.0 * (q[1] * q[1] + q[0] * q[0]);
+
+        return TRUE;
+}
+
+EAPI
+gboolean g3d_quat_to_rotation_xyz(G3DQuat *q, G3DFloat *rx, G3DFloat *ry,
+        G3DFloat *rz)
+{
+        G3DFloat t;
+
+        /* rx */
+        t = 1 - 2 * (q[1] * q[1] + q[2] * q[2]);
+        if(t != 0)
+                *rx = atan(2 * (q[0] * q[1] + q[2] * q[3]) / t);
+        else
+                *rx = 0.0;
+
+        /* ry */
+        *ry = asin(2 * (q[0] * q[2] - q[1] * q[3]));
+
+        /* rz */
+        t = 1 - 2 * (q[2] * q[2] + q[3] * q[3]);
+        if(t != 0)
+                *rz = atan(2 * (q[0] * q[3] + q[1] * q[2]) / t);
+        else
+                *rz = 0.0;
+
+        return TRUE;
+}