/*! * Apply a rotation about an arbitrary axis to a matrix. * * \ingroup matrix */ void lib3ds_matrix_rotate_axis(Lib3dsMatrix m, Lib3dsVector axis, Lib3dsFloat angle) { Lib3dsQuat q; lib3ds_quat_axis_angle(q,axis,angle); lib3ds_matrix_rotate(m,q); }
/*! * Apply a rotation about an arbitrary axis to a matrix. */ void lib3ds_matrix_rotate(float m[4][4], float angle, float ax, float ay, float az) { float q[4]; float axis[3]; lib3ds_vector_make(axis, ax, ay, az); lib3ds_quat_axis_angle(q, axis, angle); lib3ds_matrix_rotate_quat(m, q); }
static void quat_for_index(Lib3dsTrack *track, int index, float q[4]) { float p[4]; int i; lib3ds_quat_identity(q); for (i = 0; i <= index; ++i) { lib3ds_quat_axis_angle(p, track->keys[i].value, track->keys[i].value[3]); lib3ds_quat_mul(q, p, q); } }
/*! * \ingroup tracks */ void lib3ds_quat_track_setup(Lib3dsQuatTrack *track) { Lib3dsQuatKey *pp,*pc,*pn,*pl; Lib3dsQuat q; ASSERT(track); for (pp=0,pc=track->keyL; pc; pp=pc,pc=pc->next) { lib3ds_quat_axis_angle(q, pc->axis, pc->angle); if (pp) { lib3ds_quat_mul(pc->q, q, pp->q); } else { lib3ds_quat_copy(pc->q, q); } } pc=track->keyL; if (!pc) { return; } if (!pc->next) { lib3ds_quat_copy(pc->ds, pc->q); lib3ds_quat_copy(pc->dd, pc->q); return; } if (track->flags&LIB3DS_SMOOTH) { for (pl=track->keyL; pl->next->next; pl=pl->next); lib3ds_quat_key_setup(pl, pl->next, pc, 0, pc->next); } else { lib3ds_quat_key_setup(0, 0, pc, 0, pc->next); } for (;;) { pp=pc; pc=pc->next; pn=pc->next; if (!pn) { break; } lib3ds_quat_key_setup(pp, 0, pc, 0, pn); } if (track->flags&LIB3DS_SMOOTH) { lib3ds_quat_key_setup(pp, 0, pc, track->keyL, track->keyL->next); } else { lib3ds_quat_key_setup(pp, 0, pc, 0, 0); } }
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); }
/*! * \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); } } }