From 302d72701da35b6d481a538c4cb953976d7e9044 Mon Sep 17 00:00:00 2001 From: Robert Adams Date: Mon, 20 Jun 2011 17:14:59 -0700 Subject: BulletSim initial checkin --- .../ConvexDecompositionDotNet/Quaternion.cs | 209 +++++++++++++++++++++ 1 file changed, 209 insertions(+) create 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 new file mode 100644 index 0000000..0ba8f17 --- /dev/null +++ b/OpenSim/Region/Physics/ConvexDecompositionDotNet/Quaternion.cs @@ -0,0 +1,209 @@ +/* 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