From 7028cbe09c688437910a25623098762bf0fa592d Mon Sep 17 00:00:00 2001
From: David Walter Seikel
Date: Mon, 28 Mar 2016 22:28:34 +1000
Subject: Move Irrlicht to src/others.

---
 src/others/irrlicht-1.8.1/include/quaternion.h | 696 +++++++++++++++++++++++++
 1 file changed, 696 insertions(+)
 create mode 100644 src/others/irrlicht-1.8.1/include/quaternion.h

(limited to 'src/others/irrlicht-1.8.1/include/quaternion.h')

diff --git a/src/others/irrlicht-1.8.1/include/quaternion.h b/src/others/irrlicht-1.8.1/include/quaternion.h
new file mode 100644
index 0000000..f2e3921
--- /dev/null
+++ b/src/others/irrlicht-1.8.1/include/quaternion.h
@@ -0,0 +1,696 @@
+// Copyright (C) 2002-2012 Nikolaus Gebhardt
+// This file is part of the "Irrlicht Engine".
+// For conditions of distribution and use, see copyright notice in irrlicht.h
+
+#ifndef __IRR_QUATERNION_H_INCLUDED__
+#define __IRR_QUATERNION_H_INCLUDED__
+
+#include "irrTypes.h"
+#include "irrMath.h"
+#include "matrix4.h"
+#include "vector3d.h"
+
+// Between Irrlicht 1.7 and Irrlicht 1.8 the quaternion-matrix conversions got fixed.
+// This define disables all involved functions completely to allow finding all places 
+// where the wrong conversions had been in use.
+#define IRR_TEST_BROKEN_QUATERNION_USE 0
+
+namespace irr
+{
+namespace core
+{
+
+//! Quaternion class for representing rotations.
+/** It provides cheap combinations and avoids gimbal locks.
+Also useful for interpolations. */
+class quaternion
+{
+	public:
+
+		//! Default Constructor
+		quaternion() : X(0.0f), Y(0.0f), Z(0.0f), W(1.0f) {}
+
+		//! Constructor
+		quaternion(f32 x, f32 y, f32 z, f32 w) : X(x), Y(y), Z(z), W(w) { }
+
+		//! Constructor which converts euler angles (radians) to a quaternion
+		quaternion(f32 x, f32 y, f32 z);
+
+		//! Constructor which converts euler angles (radians) to a quaternion
+		quaternion(const vector3df& vec);
+
+#if !IRR_TEST_BROKEN_QUATERNION_USE
+		//! Constructor which converts a matrix to a quaternion
+		quaternion(const matrix4& mat);
+#endif
+
+		//! Equalilty operator
+		bool operator==(const quaternion& other) const;
+
+		//! inequality operator
+		bool operator!=(const quaternion& other) const;
+
+		//! Assignment operator
+		inline quaternion& operator=(const quaternion& other);
+
+#if !IRR_TEST_BROKEN_QUATERNION_USE
+		//! Matrix assignment operator
+		inline quaternion& operator=(const matrix4& other);
+#endif
+
+		//! Add operator
+		quaternion operator+(const quaternion& other) const;
+
+		//! Multiplication operator
+		quaternion operator*(const quaternion& other) const;
+
+		//! Multiplication operator with scalar
+		quaternion operator*(f32 s) const;
+
+		//! Multiplication operator with scalar
+		quaternion& operator*=(f32 s);
+
+		//! Multiplication operator
+		vector3df operator*(const vector3df& v) const;
+
+		//! Multiplication operator
+		quaternion& operator*=(const quaternion& other);
+
+		//! Calculates the dot product
+		inline f32 dotProduct(const quaternion& other) const;
+
+		//! Sets new quaternion
+		inline quaternion& set(f32 x, f32 y, f32 z, f32 w);
+
+		//! Sets new quaternion based on euler angles (radians)
+		inline quaternion& set(f32 x, f32 y, f32 z);
+
+		//! Sets new quaternion based on euler angles (radians)
+		inline quaternion& set(const core::vector3df& vec);
+
+		//! Sets new quaternion from other quaternion
+		inline quaternion& set(const core::quaternion& quat);
+
+		//! returns if this quaternion equals the other one, taking floating point rounding errors into account
+		inline bool equals(const quaternion& other,
+				const f32 tolerance = ROUNDING_ERROR_f32 ) const;
+
+		//! Normalizes the quaternion
+		inline quaternion& normalize();
+
+#if !IRR_TEST_BROKEN_QUATERNION_USE
+		//! Creates a matrix from this quaternion
+		matrix4 getMatrix() const;
+#endif 
+
+		//! Creates a matrix from this quaternion
+		void getMatrix( matrix4 &dest, const core::vector3df &translation=core::vector3df() ) const;
+
+		/*!
+			Creates a matrix from this quaternion
+			Rotate about a center point
+			shortcut for
+			core::quaternion q;
+			q.rotationFromTo ( vin[i].Normal, forward );
+			q.getMatrixCenter ( lookat, center, newPos );
+
+			core::matrix4 m2;
+			m2.setInverseTranslation ( center );
+			lookat *= m2;
+
+			core::matrix4 m3;
+			m2.setTranslation ( newPos );
+			lookat *= m3;
+
+		*/
+		void getMatrixCenter( matrix4 &dest, const core::vector3df &center, const core::vector3df &translation ) const;
+
+		//! Creates a matrix from this quaternion
+		inline void getMatrix_transposed( matrix4 &dest ) const;
+
+		//! Inverts this quaternion
+		quaternion& makeInverse();
+
+		//! Set this quaternion to the linear interpolation between two quaternions
+		/** \param q1 First quaternion to be interpolated.
+		\param q2 Second quaternion to be interpolated.
+		\param time Progress of interpolation. For time=0 the result is
+		q1, for time=1 the result is q2. Otherwise interpolation
+		between q1 and q2.
+		*/
+		quaternion& lerp(quaternion q1, quaternion q2, f32 time);
+
+		//! Set this quaternion to the result of the spherical interpolation between two quaternions
+		/** \param q1 First quaternion to be interpolated.
+		\param q2 Second quaternion to be interpolated.
+		\param time Progress of interpolation. For time=0 the result is
+		q1, for time=1 the result is q2. Otherwise interpolation
+		between q1 and q2.
+		\param threshold To avoid inaccuracies at the end (time=1) the
+		interpolation switches to linear interpolation at some point.
+		This value defines how much of the remaining interpolation will
+		be calculated with lerp. Everything from 1-threshold up will be
+		linear interpolation.
+		*/
+		quaternion& slerp(quaternion q1, quaternion q2,
+				f32 time, f32 threshold=.05f);
+
+		//! Create quaternion from rotation angle and rotation axis.
+		/** Axis must be unit length.
+		The quaternion representing the rotation is
+		q = cos(A/2)+sin(A/2)*(x*i+y*j+z*k).
+		\param angle Rotation Angle in radians.
+		\param axis Rotation axis. */
+		quaternion& fromAngleAxis (f32 angle, const vector3df& axis);
+
+		//! Fills an angle (radians) around an axis (unit vector)
+		void toAngleAxis (f32 &angle, core::vector3df& axis) const;
+
+		//! Output this quaternion to an euler angle (radians)
+		void toEuler(vector3df& euler) const;
+
+		//! Set quaternion to identity
+		quaternion& makeIdentity();
+
+		//! Set quaternion to represent a rotation from one vector to another.
+		quaternion& rotationFromTo(const vector3df& from, const vector3df& to);
+
+		//! Quaternion elements.
+		f32 X; // vectorial (imaginary) part
+		f32 Y;
+		f32 Z;
+		f32 W; // real part
+};
+
+
+// Constructor which converts euler angles to a quaternion
+inline quaternion::quaternion(f32 x, f32 y, f32 z)
+{
+	set(x,y,z);
+}
+
+
+// Constructor which converts euler angles to a quaternion
+inline quaternion::quaternion(const vector3df& vec)
+{
+	set(vec.X,vec.Y,vec.Z);
+}
+
+#if !IRR_TEST_BROKEN_QUATERNION_USE
+// Constructor which converts a matrix to a quaternion
+inline quaternion::quaternion(const matrix4& mat)
+{
+	(*this) = mat;
+}
+#endif
+
+// equal operator
+inline bool quaternion::operator==(const quaternion& other) const
+{
+	return ((X == other.X) &&
+		(Y == other.Y) &&
+		(Z == other.Z) &&
+		(W == other.W));
+}
+
+// inequality operator
+inline bool quaternion::operator!=(const quaternion& other) const
+{
+	return !(*this == other);
+}
+
+// assignment operator
+inline quaternion& quaternion::operator=(const quaternion& other)
+{
+	X = other.X;
+	Y = other.Y;
+	Z = other.Z;
+	W = other.W;
+	return *this;
+}
+
+#if !IRR_TEST_BROKEN_QUATERNION_USE
+// matrix assignment operator
+inline quaternion& quaternion::operator=(const matrix4& m)
+{
+	const f32 diag = m[0] + m[5] + m[10] + 1;
+
+	if( diag > 0.0f )
+	{
+		const f32 scale = sqrtf(diag) * 2.0f; // get scale from diagonal
+
+		// TODO: speed this up
+		X = (m[6] - m[9]) / scale;
+		Y = (m[8] - m[2]) / scale;
+		Z = (m[1] - m[4]) / scale;
+		W = 0.25f * scale;
+	}
+	else
+	{
+		if (m[0]>m[5] && m[0]>m[10])
+		{
+			// 1st element of diag is greatest value
+			// find scale according to 1st element, and double it
+			const f32 scale = sqrtf(1.0f + m[0] - m[5] - m[10]) * 2.0f;
+
+			// TODO: speed this up
+			X = 0.25f * scale;
+			Y = (m[4] + m[1]) / scale;
+			Z = (m[2] + m[8]) / scale;
+			W = (m[6] - m[9]) / scale;
+		}
+		else if (m[5]>m[10])
+		{
+			// 2nd element of diag is greatest value
+			// find scale according to 2nd element, and double it
+			const f32 scale = sqrtf(1.0f + m[5] - m[0] - m[10]) * 2.0f;
+
+			// TODO: speed this up
+			X = (m[4] + m[1]) / scale;
+			Y = 0.25f * scale;
+			Z = (m[9] + m[6]) / scale;
+			W = (m[8] - m[2]) / scale;
+		}
+		else
+		{
+			// 3rd element of diag is greatest value
+			// find scale according to 3rd element, and double it
+			const f32 scale = sqrtf(1.0f + m[10] - m[0] - m[5]) * 2.0f;
+
+			// TODO: speed this up
+			X = (m[8] + m[2]) / scale;
+			Y = (m[9] + m[6]) / scale;
+			Z = 0.25f * scale;
+			W = (m[1] - m[4]) / scale;
+		}
+	}
+
+	return normalize();
+}
+#endif
+
+
+// multiplication operator
+inline quaternion quaternion::operator*(const quaternion& other) const
+{
+	quaternion tmp;
+
+	tmp.W = (other.W * W) - (other.X * X) - (other.Y * Y) - (other.Z * Z);
+	tmp.X = (other.W * X) + (other.X * W) + (other.Y * Z) - (other.Z * Y);
+	tmp.Y = (other.W * Y) + (other.Y * W) + (other.Z * X) - (other.X * Z);
+	tmp.Z = (other.W * Z) + (other.Z * W) + (other.X * Y) - (other.Y * X);
+
+	return tmp;
+}
+
+
+// multiplication operator
+inline quaternion quaternion::operator*(f32 s) const
+{
+	return quaternion(s*X, s*Y, s*Z, s*W);
+}
+
+
+// multiplication operator
+inline quaternion& quaternion::operator*=(f32 s)
+{
+	X*=s;
+	Y*=s;
+	Z*=s;
+	W*=s;
+	return *this;
+}
+
+// multiplication operator
+inline quaternion& quaternion::operator*=(const quaternion& other)
+{
+	return (*this = other * (*this));
+}
+
+// add operator
+inline quaternion quaternion::operator+(const quaternion& b) const
+{
+	return quaternion(X+b.X, Y+b.Y, Z+b.Z, W+b.W);
+}
+
+#if !IRR_TEST_BROKEN_QUATERNION_USE
+// Creates a matrix from this quaternion
+inline matrix4 quaternion::getMatrix() const
+{
+	core::matrix4 m;
+	getMatrix(m);
+	return m;
+}
+#endif
+
+/*!
+	Creates a matrix from this quaternion
+*/
+inline void quaternion::getMatrix(matrix4 &dest,
+		const core::vector3df &center) const
+{
+	dest[0] = 1.0f - 2.0f*Y*Y - 2.0f*Z*Z;
+	dest[1] = 2.0f*X*Y + 2.0f*Z*W;
+	dest[2] = 2.0f*X*Z - 2.0f*Y*W;
+	dest[3] = 0.0f;
+
+	dest[4] = 2.0f*X*Y - 2.0f*Z*W;
+	dest[5] = 1.0f - 2.0f*X*X - 2.0f*Z*Z;
+	dest[6] = 2.0f*Z*Y + 2.0f*X*W;
+	dest[7] = 0.0f;
+
+	dest[8] = 2.0f*X*Z + 2.0f*Y*W;
+	dest[9] = 2.0f*Z*Y - 2.0f*X*W;
+	dest[10] = 1.0f - 2.0f*X*X - 2.0f*Y*Y;
+	dest[11] = 0.0f;
+
+	dest[12] = center.X;
+	dest[13] = center.Y;
+	dest[14] = center.Z;
+	dest[15] = 1.f;
+
+	dest.setDefinitelyIdentityMatrix ( false );
+}
+
+
+/*!
+	Creates a matrix from this quaternion
+	Rotate about a center point
+	shortcut for
+	core::quaternion q;
+	q.rotationFromTo(vin[i].Normal, forward);
+	q.getMatrix(lookat, center);
+
+	core::matrix4 m2;
+	m2.setInverseTranslation(center);
+	lookat *= m2;
+*/
+inline void quaternion::getMatrixCenter(matrix4 &dest,
+					const core::vector3df &center,
+					const core::vector3df &translation) const
+{
+	dest[0] = 1.0f - 2.0f*Y*Y - 2.0f*Z*Z;
+	dest[1] = 2.0f*X*Y + 2.0f*Z*W;
+	dest[2] = 2.0f*X*Z - 2.0f*Y*W;
+	dest[3] = 0.0f;
+
+	dest[4] = 2.0f*X*Y - 2.0f*Z*W;
+	dest[5] = 1.0f - 2.0f*X*X - 2.0f*Z*Z;
+	dest[6] = 2.0f*Z*Y + 2.0f*X*W;
+	dest[7] = 0.0f;
+
+	dest[8] = 2.0f*X*Z + 2.0f*Y*W;
+	dest[9] = 2.0f*Z*Y - 2.0f*X*W;
+	dest[10] = 1.0f - 2.0f*X*X - 2.0f*Y*Y;
+	dest[11] = 0.0f;
+
+	dest.setRotationCenter ( center, translation );
+}
+
+// Creates a matrix from this quaternion
+inline void quaternion::getMatrix_transposed(matrix4 &dest) const
+{
+	dest[0] = 1.0f - 2.0f*Y*Y - 2.0f*Z*Z;
+	dest[4] = 2.0f*X*Y + 2.0f*Z*W;
+	dest[8] = 2.0f*X*Z - 2.0f*Y*W;
+	dest[12] = 0.0f;
+
+	dest[1] = 2.0f*X*Y - 2.0f*Z*W;
+	dest[5] = 1.0f - 2.0f*X*X - 2.0f*Z*Z;
+	dest[9] = 2.0f*Z*Y + 2.0f*X*W;
+	dest[13] = 0.0f;
+
+	dest[2] = 2.0f*X*Z + 2.0f*Y*W;
+	dest[6] = 2.0f*Z*Y - 2.0f*X*W;
+	dest[10] = 1.0f - 2.0f*X*X - 2.0f*Y*Y;
+	dest[14] = 0.0f;
+
+	dest[3] = 0.f;
+	dest[7] = 0.f;
+	dest[11] = 0.f;
+	dest[15] = 1.f;
+
+	dest.setDefinitelyIdentityMatrix(false);
+}
+
+
+// Inverts this quaternion
+inline quaternion& quaternion::makeInverse()
+{
+	X = -X; Y = -Y; Z = -Z;
+	return *this;
+}
+
+
+// sets new quaternion
+inline quaternion& quaternion::set(f32 x, f32 y, f32 z, f32 w)
+{
+	X = x;
+	Y = y;
+	Z = z;
+	W = w;
+	return *this;
+}
+
+
+// sets new quaternion based on euler angles
+inline quaternion& quaternion::set(f32 x, f32 y, f32 z)
+{
+	f64 angle;
+
+	angle = x * 0.5;
+	const f64 sr = sin(angle);
+	const f64 cr = cos(angle);
+
+	angle = y * 0.5;
+	const f64 sp = sin(angle);
+	const f64 cp = cos(angle);
+
+	angle = z * 0.5;
+	const f64 sy = sin(angle);
+	const f64 cy = cos(angle);
+
+	const f64 cpcy = cp * cy;
+	const f64 spcy = sp * cy;
+	const f64 cpsy = cp * sy;
+	const f64 spsy = sp * sy;
+
+	X = (f32)(sr * cpcy - cr * spsy);
+	Y = (f32)(cr * spcy + sr * cpsy);
+	Z = (f32)(cr * cpsy - sr * spcy);
+	W = (f32)(cr * cpcy + sr * spsy);
+
+	return normalize();
+}
+
+// sets new quaternion based on euler angles
+inline quaternion& quaternion::set(const core::vector3df& vec)
+{
+	return set(vec.X, vec.Y, vec.Z);
+}
+
+// sets new quaternion based on other quaternion
+inline quaternion& quaternion::set(const core::quaternion& quat)
+{
+	return (*this=quat);
+}
+
+
+//! returns if this quaternion equals the other one, taking floating point rounding errors into account
+inline bool quaternion::equals(const quaternion& other, const f32 tolerance) const
+{
+	return core::equals(X, other.X, tolerance) &&
+		core::equals(Y, other.Y, tolerance) &&
+		core::equals(Z, other.Z, tolerance) &&
+		core::equals(W, other.W, tolerance);
+}
+
+
+// normalizes the quaternion
+inline quaternion& quaternion::normalize()
+{
+	const f32 n = X*X + Y*Y + Z*Z + W*W;
+
+	if (n == 1)
+		return *this;
+
+	//n = 1.0f / sqrtf(n);
+	return (*this *= reciprocal_squareroot ( n ));
+}
+
+
+// set this quaternion to the result of the linear interpolation between two quaternions
+inline quaternion& quaternion::lerp(quaternion q1, quaternion q2, f32 time)
+{
+	const f32 scale = 1.0f - time;
+	return (*this = (q1*scale) + (q2*time));
+}
+
+
+// set this quaternion to the result of the interpolation between two quaternions
+inline quaternion& quaternion::slerp(quaternion q1, quaternion q2, f32 time, f32 threshold)
+{
+	f32 angle = q1.dotProduct(q2);
+
+	// make sure we use the short rotation
+	if (angle < 0.0f)
+	{
+		q1 *= -1.0f;
+		angle *= -1.0f;
+	}
+
+	if (angle <= (1-threshold)) // spherical interpolation
+	{
+		const f32 theta = acosf(angle);
+		const f32 invsintheta = reciprocal(sinf(theta));
+		const f32 scale = sinf(theta * (1.0f-time)) * invsintheta;
+		const f32 invscale = sinf(theta * time) * invsintheta;
+		return (*this = (q1*scale) + (q2*invscale));
+	}
+	else // linear interploation
+		return lerp(q1,q2,time);
+}
+
+
+// calculates the dot product
+inline f32 quaternion::dotProduct(const quaternion& q2) const
+{
+	return (X * q2.X) + (Y * q2.Y) + (Z * q2.Z) + (W * q2.W);
+}
+
+
+//! axis must be unit length, angle in radians
+inline quaternion& quaternion::fromAngleAxis(f32 angle, const vector3df& axis)
+{
+	const f32 fHalfAngle = 0.5f*angle;
+	const f32 fSin = sinf(fHalfAngle);
+	W = cosf(fHalfAngle);
+	X = fSin*axis.X;
+	Y = fSin*axis.Y;
+	Z = fSin*axis.Z;
+	return *this;
+}
+
+
+inline void quaternion::toAngleAxis(f32 &angle, core::vector3df &axis) const
+{
+	const f32 scale = sqrtf(X*X + Y*Y + Z*Z);
+
+	if (core::iszero(scale) || W > 1.0f || W < -1.0f)
+	{
+		angle = 0.0f;
+		axis.X = 0.0f;
+		axis.Y = 1.0f;
+		axis.Z = 0.0f;
+	}
+	else
+	{
+		const f32 invscale = reciprocal(scale);
+		angle = 2.0f * acosf(W);
+		axis.X = X * invscale;
+		axis.Y = Y * invscale;
+		axis.Z = Z * invscale;
+	}
+}
+
+inline void quaternion::toEuler(vector3df& euler) const
+{
+	const f64 sqw = W*W;
+	const f64 sqx = X*X;
+	const f64 sqy = Y*Y;
+	const f64 sqz = Z*Z;
+	const f64 test = 2.0 * (Y*W - X*Z);
+
+	if (core::equals(test, 1.0, 0.000001))
+	{
+		// heading = rotation about z-axis
+		euler.Z = (f32) (-2.0*atan2(X, W));
+		// bank = rotation about x-axis
+		euler.X = 0;
+		// attitude = rotation about y-axis
+		euler.Y = (f32) (core::PI64/2.0);
+	}
+	else if (core::equals(test, -1.0, 0.000001))
+	{
+		// heading = rotation about z-axis
+		euler.Z = (f32) (2.0*atan2(X, W));
+		// bank = rotation about x-axis
+		euler.X = 0;
+		// attitude = rotation about y-axis
+		euler.Y = (f32) (core::PI64/-2.0);
+	}
+	else
+	{
+		// heading = rotation about z-axis
+		euler.Z = (f32) atan2(2.0 * (X*Y +Z*W),(sqx - sqy - sqz + sqw));
+		// bank = rotation about x-axis
+		euler.X = (f32) atan2(2.0 * (Y*Z +X*W),(-sqx - sqy + sqz + sqw));
+		// attitude = rotation about y-axis
+		euler.Y = (f32) asin( clamp(test, -1.0, 1.0) );
+	}
+}
+
+
+inline vector3df quaternion::operator* (const vector3df& v) const
+{
+	// nVidia SDK implementation
+
+	vector3df uv, uuv;
+	vector3df qvec(X, Y, Z);
+	uv = qvec.crossProduct(v);
+	uuv = qvec.crossProduct(uv);
+	uv *= (2.0f * W);
+	uuv *= 2.0f;
+
+	return v + uv + uuv;
+}
+
+// set quaternion to identity
+inline core::quaternion& quaternion::makeIdentity()
+{
+	W = 1.f;
+	X = 0.f;
+	Y = 0.f;
+	Z = 0.f;
+	return *this;
+}
+
+inline core::quaternion& quaternion::rotationFromTo(const vector3df& from, const vector3df& to)
+{
+	// Based on Stan Melax's article in Game Programming Gems
+	// Copy, since cannot modify local
+	vector3df v0 = from;
+	vector3df v1 = to;
+	v0.normalize();
+	v1.normalize();
+
+	const f32 d = v0.dotProduct(v1);
+	if (d >= 1.0f) // If dot == 1, vectors are the same
+	{
+		return makeIdentity();
+	}
+	else if (d <= -1.0f) // exactly opposite
+	{
+		core::vector3df axis(1.0f, 0.f, 0.f);
+		axis = axis.crossProduct(v0);
+		if (axis.getLength()==0)
+		{
+			axis.set(0.f,1.f,0.f);
+			axis = axis.crossProduct(v0);
+		}
+		// same as fromAngleAxis(core::PI, axis).normalize();
+		return set(axis.X, axis.Y, axis.Z, 0).normalize();
+	}
+
+	const f32 s = sqrtf( (1+d)*2 ); // optimize inv_sqrt
+	const f32 invs = 1.f / s;
+	const vector3df c = v0.crossProduct(v1)*invs;
+	return set(c.X, c.Y, c.Z, s * 0.5f).normalize();
+}
+
+
+} // end namespace core
+} // end namespace irr
+
+#endif
+
-- 
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