From 134f86e8d5c414409631b25b8c6f0ee45fbd8631 Mon Sep 17 00:00:00 2001 From: David Walter Seikel Date: Thu, 3 Nov 2016 21:44:39 +1000 Subject: Initial update to OpenSim 0.8.2.1 source code. --- .../ConvexDecompositionDotNet/Quaternion.cs | 209 --------------------- 1 file changed, 209 deletions(-) delete mode 100644 OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs (limited to 'OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs') diff --git a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs deleted file mode 100644 index 0ba8f17..0000000 --- a/OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs +++ /dev/null @@ -1,209 +0,0 @@ -/* The MIT License - * - * Copyright (c) 2010 Intel Corporation. - * All rights reserved. - * - * Based on the convexdecomposition library from - * by John W. Ratcliff and Stan Melax. - * - * Permission is hereby granted, free of charge, to any person obtaining a copy - * of this software and associated documentation files (the "Software"), to deal - * in the Software without restriction, including without limitation the rights - * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell - * copies of the Software, and to permit persons to whom the Software is - * furnished to do so, subject to the following conditions: - * - * The above copyright notice and this permission notice shall be included in - * all copies or substantial portions of the Software. - * - * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR - * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, - * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE - * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER - * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, - * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN - * THE SOFTWARE. - */ - -using System; - -namespace OpenSim.Region.Physics.ConvexDecompositionDotNet -{ - public class Quaternion : float4 - { - public Quaternion() - { - x = y = z = 0.0f; - w = 1.0f; - } - - public Quaternion(float3 v, float t) - { - v = float3.normalize(v); - w = (float)Math.Cos(t / 2.0f); - v = v * (float)Math.Sin(t / 2.0f); - x = v.x; - y = v.y; - z = v.z; - } - - public Quaternion(float _x, float _y, float _z, float _w) - { - x = _x; - y = _y; - z = _z; - w = _w; - } - - public float angle() - { - return (float)Math.Acos(w) * 2.0f; - } - - public float3 axis() - { - float3 a = new float3(x, y, z); - if (Math.Abs(angle()) < 0.0000001f) - return new float3(1f, 0f, 0f); - return a * (1 / (float)Math.Sin(angle() / 2.0f)); - } - - public float3 xdir() - { - return new float3(1 - 2 * (y * y + z * z), 2 * (x * y + w * z), 2 * (x * z - w * y)); - } - - public float3 ydir() - { - return new float3(2 * (x * y - w * z), 1 - 2 * (x * x + z * z), 2 * (y * z + w * x)); - } - - public float3 zdir() - { - return new float3(2 * (x * z + w * y), 2 * (y * z - w * x), 1 - 2 * (x * x + y * y)); - } - - public float3x3 getmatrix() - { - return new float3x3(xdir(), ydir(), zdir()); - } - - public static implicit operator float3x3(Quaternion q) - { - return q.getmatrix(); - } - - public static Quaternion operator *(Quaternion a, Quaternion b) - { - Quaternion c = new Quaternion(); - c.w = a.w * b.w - a.x * b.x - a.y * b.y - a.z * b.z; - c.x = a.w * b.x + a.x * b.w + a.y * b.z - a.z * b.y; - c.y = a.w * b.y - a.x * b.z + a.y * b.w + a.z * b.x; - c.z = a.w * b.z + a.x * b.y - a.y * b.x + a.z * b.w; - return c; - } - - public static float3 operator *(Quaternion q, float3 v) - { - // The following is equivalent to: - //return (q.getmatrix() * v); - float qx2 = q.x * q.x; - float qy2 = q.y * q.y; - float qz2 = q.z * q.z; - - float qxqy = q.x * q.y; - float qxqz = q.x * q.z; - float qxqw = q.x * q.w; - float qyqz = q.y * q.z; - float qyqw = q.y * q.w; - float qzqw = q.z * q.w; - return new float3((1 - 2 * (qy2 + qz2)) * v.x + (2 * (qxqy - qzqw)) * v.y + (2 * (qxqz + qyqw)) * v.z, (2 * (qxqy + qzqw)) * v.x + (1 - 2 * (qx2 + qz2)) * v.y + (2 * (qyqz - qxqw)) * v.z, (2 * (qxqz - qyqw)) * v.x + (2 * (qyqz + qxqw)) * v.y + (1 - 2 * (qx2 + qy2)) * v.z); - } - - public static Quaternion operator +(Quaternion a, Quaternion b) - { - return new Quaternion(a.x + b.x, a.y + b.y, a.z + b.z, a.w + b.w); - } - - public static Quaternion operator *(Quaternion a, float b) - { - return new Quaternion(a.x *b, a.y *b, a.z *b, a.w *b); - } - - public static Quaternion normalize(Quaternion a) - { - float m = (float)Math.Sqrt(a.w * a.w + a.x * a.x + a.y * a.y + a.z * a.z); - if (m < 0.000000001f) - { - a.w = 1; - a.x = a.y = a.z = 0; - return a; - } - return a * (1f / m); - } - - public static float dot(Quaternion a, Quaternion b) - { - return (a.w * b.w + a.x * b.x + a.y * b.y + a.z * b.z); - } - - public static Quaternion slerp(Quaternion a, Quaternion b, float interp) - { - if (dot(a, b) < 0.0) - { - a.w = -a.w; - a.x = -a.x; - a.y = -a.y; - a.z = -a.z; - } - float d = dot(a, b); - if (d >= 1.0) - { - return a; - } - float theta = (float)Math.Acos(d); - if (theta == 0.0f) - { - return (a); - } - return a * ((float)Math.Sin(theta - interp * theta) / (float)Math.Sin(theta)) + b * ((float)Math.Sin(interp * theta) / (float)Math.Sin(theta)); - } - - public static Quaternion Interpolate(Quaternion q0, Quaternion q1, float alpha) - { - return slerp(q0, q1, alpha); - } - - public static Quaternion Inverse(Quaternion q) - { - return new Quaternion(-q.x, -q.y, -q.z, q.w); - } - - public static Quaternion YawPitchRoll(float yaw, float pitch, float roll) - { - roll *= (3.14159264f / 180.0f); - yaw *= (3.14159264f / 180.0f); - pitch *= (3.14159264f / 180.0f); - return new Quaternion(new float3(0.0f, 0.0f, 1.0f), yaw) * new Quaternion(new float3(1.0f, 0.0f, 0.0f), pitch) * new Quaternion(new float3(0.0f, 1.0f, 0.0f), roll); - } - - public static float Yaw(Quaternion q) - { - float3 v = q.ydir(); - return (v.y == 0.0 && v.x == 0.0) ? 0.0f : (float)Math.Atan2(-v.x, v.y) * (180.0f / 3.14159264f); - } - - public static float Pitch(Quaternion q) - { - float3 v = q.ydir(); - return (float)Math.Atan2(v.z, Math.Sqrt(v.x * v.x + v.y * v.y)) * (180.0f / 3.14159264f); - } - - public static float Roll(Quaternion q) - { - q = new Quaternion(new float3(0.0f, 0.0f, 1.0f), -Yaw(q) * (3.14159264f / 180.0f)) * q; - q = new Quaternion(new float3(1.0f, 0.0f, 0.0f), -Pitch(q) * (3.14159264f / 180.0f)) * q; - return (float)Math.Atan2(-q.xdir().z, q.xdir().x) * (180.0f / 3.14159264f); - } - } -} -- cgit v1.1