void glopRotate(GLContext *c,GLParam *p)
{
M4 m;
float u[3];
float angle;
int dir_code;
angle = p[1].f * M_PI / 180.0;
u[0]=p[2].f;
u[1]=p[3].f;
u[2]=p[4].f;
/* simple case detection */
dir_code = ((u[0] != 0)<<2) | ((u[1] != 0)<<1) | (u[2] != 0);
switch(dir_code) {
case 0:
gl_M4_Id(&m);
break;
case 4:
if (u[0] < 0) angle=-angle;
gl_M4_Rotate(&m,angle,0);
break;
case 2:
if (u[1] < 0) angle=-angle;
gl_M4_Rotate(&m,angle,1);
break;
case 1:
if (u[2] < 0) angle=-angle;
gl_M4_Rotate(&m,angle,2);
break;
default:
{
float cost, sint;
/* normalize vector */
float len = u[0]*u[0]+u[1]*u[1]+u[2]*u[2];
if (len == 0.0f) return;
len = 1.0f / sqrt(len);
u[0] *= len;
u[1] *= len;
u[2] *= len;
/* store cos and sin values */
cost=cos(angle);
sint=sin(angle);
/* fill in the values */
m.m[3][0]=m.m[3][1]=m.m[3][2]=
m.m[0][3]=m.m[1][3]=m.m[2][3]=0.0f;
m.m[3][3]=1.0f;
/* do the math */
m.m[0][0]=u[0]*u[0]+cost*(1-u[0]*u[0]);
m.m[1][0]=u[0]*u[1]*(1-cost)-u[2]*sint;
m.m[2][0]=u[2]*u[0]*(1-cost)+u[1]*sint;
m.m[0][1]=u[0]*u[1]*(1-cost)+u[2]*sint;
m.m[1][1]=u[1]*u[1]+cost*(1-u[1]*u[1]);
m.m[2][1]=u[1]*u[2]*(1-cost)-u[0]*sint;
m.m[0][2]=u[2]*u[0]*(1-cost)-u[1]*sint;
m.m[1][2]=u[1]*u[2]*(1-cost)+u[0]*sint;
m.m[2][2]=u[2]*u[2]+cost*(1-u[2]*u[2]);
}
}
gl_M4_MulLeft(c->matrix_stack_ptr[c->matrix_mode],&m);
gl_matrix_update(c);
}
void glopRotate(GLContext *c,GLParam *p)
{
#define SLL_M_PI dbl2sll(M_PI)
M4 m;
GLfloat u[3];
GLfloat angle;
int dir_code;
angle = slldiv(sllmul(p[1].f, SLL_M_PI), int2sll(180));
u[0]=p[2].f;
u[1]=p[3].f;
u[2]=p[4].f;
/* simple case detection */
dir_code = ((sllvalue(u[0]) != sllvalue(int2sll(0)))<<2) | ((sllvalue(u[1]) != sllvalue(int2sll(0)))<<1) | (sllvalue(u[2]) != sllvalue(int2sll(0)));
switch(dir_code) {
case 0:
gl_M4_Id(&m);
break;
case 4:
if (sllvalue(u[0]) < sllvalue(int2sll(0))) angle=sllneg(angle);
gl_M4_Rotate(&m,angle,0);
break;
case 2:
if (sllvalue(u[1]) < sllvalue(int2sll(0))) angle=sllneg(angle);
gl_M4_Rotate(&m,angle,1);
break;
case 1:
if (sllvalue(u[2]) < sllvalue(int2sll(0))) angle=sllneg(angle);
gl_M4_Rotate(&m,angle,2);
break;
default:
{
GLfloat cost, sint;
/* normalize vector */
GLfloat len = slladd(
slladd(
sllmul(u[0],u[0]),
sllmul(u[1],u[1])
),
sllmul(u[2],u[2]));
if (sllvalue(len) == sllvalue(int2sll(0))) return;
len = slldiv(int2sll(1), sllsqrt(len));
u[0] = sllmul(u[0], len);
u[1] = sllmul(u[1], len);
u[2] = sllmul(u[2], len);
/* store cos and sin values */
cost=sllcos(angle);
sint=sllsin(angle);
/* fill in the values */
m.m[3][0]=m.m[3][1]=m.m[3][2]=
m.m[0][3]=m.m[1][3]=m.m[2][3]=int2sll(0);
m.m[3][3]=int2sll(1);
/* do the math */
m.m[0][0]=slladd(sllmul(u[0],u[0]), sllmul(cost, sllsub(int2sll(1), sllmul(u[0],u[0]))));
m.m[1][0]=sllsub(sllmul(sllmul(u[0],u[1]), sllsub(int2sll(1), cost)), sllmul(u[2],sint));
m.m[2][0]=slladd(sllmul(sllmul(u[2],u[0]), sllsub(int2sll(1), cost)), sllmul(u[1],sint));
m.m[0][1]=slladd(sllmul(sllmul(u[0],u[1]), sllsub(int2sll(1), cost)), sllmul(u[2],sint));
m.m[1][1]=slladd(sllmul(u[1],u[1]), sllmul(cost, sllsub(int2sll(1), sllmul(u[1],u[1]))));
m.m[2][1]=sllsub(sllmul(sllmul(u[1],u[2]), sllsub(int2sll(1), cost)), sllmul(u[0],sint));
m.m[0][2]=sllsub(sllmul(sllmul(u[2],u[0]), sllsub(int2sll(1), cost)), sllmul(u[1],sint));
m.m[1][2]=slladd(sllmul(sllmul(u[1],u[2]), sllsub(int2sll(1), cost)), sllmul(u[0],sint));
m.m[2][2]=slladd(sllmul(u[2],u[2]), sllmul(cost, sllsub(int2sll(1), sllmul(u[2],u[2]))));
}
}
gl_M4_MulLeft(c->matrix_stack_ptr[c->matrix_mode],&m);
gl_matrix_update(c);
}
