Ejemplos de lib3ds_quat_neg en C++ (Cpp)

Ejemplo n.º 1

Archivo: lib3ds_track.c Proyecto: ArturSoczek/OpenGLInsightsCode

static void 
rot_key_setup(Lib3dsKey *prev, Lib3dsKey *cur, Lib3dsKey *next, float a[4], float b[4]) {
    float tm, cm, cp, bm, bp, tmcm, tmcp, ksm, ksp, kdm, kdp, c;
    float dt, fp, fn;
    float q[4], qm[4], qp[4], qa[4], qb[4];
    int i;

    assert(cur);
    if (prev) {
        if (cur->value[3] > LIB3DS_TWOPI - LIB3DS_EPSILON) {
            lib3ds_quat_axis_angle(qm, cur->value, 0.0f);
            lib3ds_quat_ln(qm);
        } else {
            lib3ds_quat_copy(q, prev->value);
            if (lib3ds_quat_dot(q, cur->value) < 0) lib3ds_quat_neg(q);
            lib3ds_quat_ln_dif(qm, q, cur->value);
        }
    }
    if (next) {
        if (next->value[3] > LIB3DS_TWOPI - LIB3DS_EPSILON) {
            lib3ds_quat_axis_angle(qp, next->value, 0.0f);
            lib3ds_quat_ln(qp);
        } else {
            lib3ds_quat_copy(q, next->value);
            if (lib3ds_quat_dot(q, cur->value) < 0) lib3ds_quat_neg(q);
            lib3ds_quat_ln_dif(qp, cur->value, q);
        }
    }
    if (!prev) lib3ds_quat_copy(qm, qp);
    if (!next) lib3ds_quat_copy(qp, qm);

    fp = fn = 1.0f;
    cm = 1.0f - cur->cont;
    if (prev && next) {
        dt = 0.5f * (next->frame - prev->frame);
        fp = (float)(cur->frame - prev->frame) / dt;
        fn = (float)(next->frame - cur->frame) / dt;
        c  = (float)fabs(cur->cont);
        fp = fp + c - c * fp;
        fn = fn + c - c * fn;
    }

    tm = 0.5f * (1.0f - cur->tens);
    cp = 2.0f - cm;
    bm = 1.0f - cur->bias;
    bp = 2.0f - bm;
    tmcm = tm * cm;
    tmcp = tm * cp;
    ksm = 1.0f - tmcm * bp * fp;
    ksp = -tmcp * bm * fp;
    kdm = tmcp * bp * fn;
    kdp = tmcm * bm * fn - 1.0f;

    for (i = 0; i < 4; i++) {
        qa[i] = 0.5f * (kdm * qm[i] + kdp * qp[i]);
        qb[i] = 0.5f * (ksm * qm[i] + ksp * qp[i]);
    }
    lib3ds_quat_exp(qa);
    lib3ds_quat_exp(qb);

    lib3ds_quat_mul(a, cur->value, qa);
    lib3ds_quat_mul(b, cur->value, qb);
}

Ejemplo n.º 2

Archivo: tracks.c Proyecto: refnum/quesa

/*!
 * \ingroup tracks 
 */
void
lib3ds_quat_key_setup(Lib3dsQuatKey *p, Lib3dsQuatKey *cp, Lib3dsQuatKey *c,
  Lib3dsQuatKey *cn, Lib3dsQuatKey *n)
{
  Lib3dsFloat ksm,ksp,kdm,kdp;
  Lib3dsQuat q,qp,qn,qa,qb;
  int i;
  
  ASSERT(c);
  if (!cp) {
    cp=c;
  }
  if (!cn) {
    cn=c;
  }
  if (!p || !n) {
    lib3ds_quat_copy(c->ds, c->q);
    lib3ds_quat_copy(c->dd, c->q);
    return;
  }

  if (p) {
    if (p->angle>LIB3DS_TWOPI-LIB3DS_EPSILON) {
      lib3ds_quat_axis_angle(qp, p->axis, 0.0f);
      lib3ds_quat_ln(qp);
    }
    else {
      lib3ds_quat_copy(q, p->q);
      if (lib3ds_quat_dot(q,c->q)<0) lib3ds_quat_neg(q);
      lib3ds_quat_ln_dif(qp, c->q, q);
    }
  }
  if (n) {
    if (n->angle>LIB3DS_TWOPI-LIB3DS_EPSILON) {
      lib3ds_quat_axis_angle(qn, n->axis, 0.0f);
      lib3ds_quat_ln(qn);
    }
    else {
      lib3ds_quat_copy(q, n->q);
      if (lib3ds_quat_dot(q,c->q)<0) lib3ds_quat_neg(q);
      lib3ds_quat_ln_dif(qn, c->q, q);
    }
  }

  if (n && p) {
    lib3ds_tcb(&p->tcb, &cp->tcb, &c->tcb, &cn->tcb, &n->tcb, &ksm, &ksp, &kdm, &kdp);
    for(i=0; i<4; i++) {
      qa[i]=-0.5f*(kdm*qn[i]+kdp*qp[i]);
      qb[i]=-0.5f*(ksm*qn[i]+ksp*qp[i]);
    }
    lib3ds_quat_exp(qa);
    lib3ds_quat_exp(qb);
    
    lib3ds_quat_mul(c->ds, c->q, qa);
    lib3ds_quat_mul(c->dd, c->q, qb);
  }
  else {
    if (p) {
      lib3ds_quat_exp(qp);
      lib3ds_quat_mul(c->ds, c->q, qp);
      lib3ds_quat_mul(c->dd, c->q, qp);
    }
    if (n) {
      lib3ds_quat_exp(qn);
      lib3ds_quat_mul(c->ds, c->q, qn);
      lib3ds_quat_mul(c->dd, c->q, qn);
    }
  }
}