/*
* _alRotatePointAboutAxis( ALfloat angle, ALfloat *point, ALfloat *axis )
*
* Rotates point angle radians about axis.
*
* angle - in radians
* point - x/y/z
* axis - x/y/z (unit vector)
*
* FIXME: check my math
* FIXME: needs to check args
*/
void _alRotatePointAboutAxis( ALfloat angle, ALfloat *point, ALfloat *axis ) {
ALmatrix *m;
ALmatrix *pm;
ALmatrix *rm;
float s;
float c;
float t;
float x = axis[0];
float y = axis[1];
float z = axis[2];
int i;
if(angle == 0.0) {
/* FIXME: use epsilon? */
return;
}
s = sin( angle );
c = cos( angle );
t = 1.0 - c;
m = _alMatrixAlloc(3, 3);
pm = _alMatrixAlloc(1, 3);
rm = _alMatrixAlloc(1, 3);
#if 1
m->data[0][0] = t * x * x + c;
m->data[0][1] = t * x * y - s * z;
m->data[0][2] = t * x * z + s * y;
m->data[1][0] = t * x * y + s * z;
m->data[1][1] = t * y * y + c;
m->data[1][2] = t * y * z - s * x;
m->data[2][0] = t * x * z - s * y;
m->data[2][1] = t * y * z + s * x;
m->data[2][2] = t * z * z + c;
#else
m->data[0][0] = t * x * x + c;
m->data[1][0] = t * x * y - s * z;
m->data[2][0] = t * x * z + s * y;
m->data[0][1] = t * x * y + s * z;
m->data[1][1] = t * y * y + c;
m->data[2][1] = t * y * z - s * x;
m->data[0][2] = t * x * z - s * y;
m->data[1][2] = t * y * z + s * x;
m->data[2][2] = t * z * z + c;
#endif
for(i = 0; i < 3; i++) {
pm->data[0][i] = point[i];
rm->data[0][i] = 0;
}
/*
* rm = pm * m
*/
_alMatrixMul(rm, pm, m);
for(i = 0; i < 3; i++) {
point[i] = rm->data[0][i];
}
_alMatrixFree(m);
_alMatrixFree(pm);
_alMatrixFree(rm);
return;
}
int main(void) {
ALmatrix *m1 = _alMatrixAlloc(3, 3);
ALmatrix *m2 = _alMatrixAlloc(3, 3);
ALmatrix *m3 = _alMatrixAlloc(3, 3);
ALfloat axis[3] = { 0.0, 0.0, 1.0 };
ALfloat point[3] = { 15.0, 0.0, 0.0 };
ALfloat point1[3] = { 15.0, 0.0, 0.0 };
ALfloat point2[3] = { 15.0, 0.0, 0.0 };
ALfloat origin[3] = { 0.0, 0.0, 0.0 };
ALfloat vab;
ALfloat xaxis[3] = { 1.0, 0.0, 0.0 };
ALfloat yaxis[3] = { 0.0, 1.0, 0.0 };
ALfloat zaxis[3] = { 0.0, 0.0, 1.0 };
ALfloat mxaxis[3] = { -1.0, 0.0, 0.0 };
ALfloat myaxis[3] = { 0.0, -1.0, 0.0 };
ALfloat mzaxis[3] = { 0.0, 0.0, -1.0 };
int i;
int j;
ALfloat vec1[3], vec2[3], d[3];
for(i = 0; i < 3; i++) {
for(j = 0; j < 3; j++) {
m3->data[i][j] = 0.0;
if(i == j) {
m1->data[i][j] = 3.0;
m2->data[i][j] = 1.0;
} else {
m1->data[i][j] = 2.0;
m2->data[i][j] = 0.0;
}
}
}
#if 0
fprintf(stderr, "m1:\n[%f][%f][%f]\n[%f][%f][%f]\n[%f][%f][%f]\n\n",
m1->data[0][0], m1->data[0][1], m1->data[0][2],
m1->data[1][0], m1->data[1][1], m1->data[1][2],
m1->data[2][0], m1->data[2][1], m1->data[2][2]);
fprintf(stderr, "m2:\n[%f][%f][%f]\n[%f][%f][%f]\n[%f][%f][%f]\n\n",
m2->data[0][0], m2->data[0][1], m2->data[0][2],
m2->data[1][0], m2->data[1][1], m2->data[1][2],
m2->data[2][0], m2->data[2][1], m2->data[2][2]);
_alMatrixMul(m3, m2, m1);
fprintf(stderr, "[%f][%f][%f]\n[%f][%f][%f]\n[%f][%f][%f]\n",
m3->data[0][0], m3->data[0][1], m3->data[0][2],
m3->data[1][0], m3->data[1][1], m3->data[1][2],
m3->data[2][0], m3->data[2][1], m3->data[2][2]);
rotate_point_about_axis(1.00, point, axis);
fprintf(stderr, "point [%f][%f][%f]\n",
point[0], point[1], point[2]);
vab = vector_angle_between(origin, origin, origin);
fprintf(stderr, "origin should be 0.0, is %f\n", vab);
vab = vector_angle_between(origin, xaxis, yaxis);
fprintf(stderr, "xaxis/yaxis: should be %f, is %f\n", M_PI_2, vab);
vab = vector_angle_between(origin, xaxis, zaxis);
fprintf(stderr, "xaxis/zaxis: should be %f, is %f\n", M_PI_2, vab);
vab = vector_angle_between(origin, origin, point);
fprintf(stderr, "origin/point: should be %f, is %f\n", 0.0, vab);
vab = vector_angle_between(origin, point1, point2);
fprintf(stderr, "point1/point2: should be %f, is %f\n", 0.0, vab);
for(i = 0; i < 32; i++) {
if(ISPOWEROFTWO(i) == AL_TRUE) {
fprintf(stderr, "ISPOWEROFTWO %d = AL_TRUE\n", i);
}
}
for(i = 0; i < 32; i++) {
fprintf(stderr,
"nextPowerOfTwo(%d) = %d\n",
i, nextPowerOfTwo(i));
}
/* vector distance */
vec1[0] = -20.0;
vec1[1] = 0.0;
vec1[2] = 0.0;
vec2[0] = -22.0;
vec2[1] = 0.0;
vec2[2] = 0.0;
vector_distance(vec1, vec2, d);
fprintf(stderr, "\n\t %f %f %f \n\t+ (%f %f %f)\n\t= (%f %f %f)\n",
vec1[0], vec1[1], vec1[2],
vec2[0], vec2[1], vec2[2],
d[0], d[1], d[2]);
/* vector magnitude */
vec1[0] = -31.0;
vec1[1] = 0.0;
vec1[2] = 0.0;
vec2[0] = 30.0;
vec2[1] = 0.0;
vec2[2] = 0.0;
fprintf(stderr, "\n\t %f %f %f \n\t~~ (%f %f %f)\n\t= %f\n",
vec1[0], vec1[1], vec1[2],
vec2[0], vec2[1], vec2[2],
vector_magnitude(vec1, vec2));
/* vector magnitude again */
vec1[0] = 5.0;
vec1[1] = 0.0;
vec1[2] = 0.0;
vec2[0] = 0.0;
vec2[1] = 5.0;
vec2[2] = 0.0;
fprintf(stderr, "\n\t %f %f %f \n\t~~ (%f %f %f)\n\t= %f\n",
vec1[0], vec1[1], vec1[2],
vec2[0], vec2[1], vec2[2],
vector_magnitude(vec1, vec2));
/* vector intersect angle */
vec1[0] = 0.0; point1[0] = 4.0;
vec1[1] = 0.0; point1[1] = 0.0;
vec1[2] = 0.0; point1[2] = 0.0;
vec2[0] = 0.0; point2[0] = 0.0;
vec2[1] = 0.0; point2[1] = 4.0;
vec2[2] = 0.0; point2[2] = 0.0;
fprintf(stderr, "\n\t ---- VECTOR ANGLE INTERSECT PERPENDICULAR -----\n"
"\t1: (%f %f %f) -> (%f %f %f)\n"
"\t2: (%f %f %f) -> (%f %f %f)\n"
"\t=== %f\n",
vec1[0], vec1[1], vec1[2],
point1[0], point1[1], point1[2],
vec2[0], vec2[1], vec2[2],
point2[0], point2[1], point2[2],
vector_intersect_angle(vec1, point1, vec2, point2));
/* vector intersect angle */
vec1[0] = 0.0; point1[0] = 4.0;
vec1[1] = 0.0; point1[1] = 0.0;
vec1[2] = 0.0; point1[2] = 0.0;
vec2[0] = 2.0; point2[0] = 6.0;
vec2[1] = 0.0; point2[1] = 0.0;
vec2[2] = 0.0; point2[2] = 0.0;
fprintf(stderr, "\n\t ---- VECTOR ANGLE INTERSECT PARALLEL -----\n"
"\t1: (%f %f %f) -> (%f %f %f)\n"
"\t2: (%f %f %f) -> (%f %f %f)\n"
"\t=== %f\n",
vec1[0], vec1[1], vec1[2],
point1[0], point1[1], point1[2],
vec2[0], vec2[1], vec2[2],
point2[0], point2[1], point2[2],
vector_intersect_angle(vec1, point1, vec2, point2));
/* vector intersect angle */
vec1[0] = -2.0; point1[0] = 4.0;
vec1[1] = 0.0; point1[1] = 0.0;
vec1[2] = 0.0; point1[2] = 0.0;
vec2[0] = 0.0; point2[0] = -4.0;
vec2[1] = 0.0; point2[1] = 0.0;
vec2[2] = 0.0; point2[2] = 10.0;
fprintf(stderr, "\n\t ---- VECTOR ANGLE INTERSECT OBTUSE -----\n"
"\t1: (%f %f %f) -> (%f %f %f)\n"
"\t2: (%f %f %f) -> (%f %f %f)\n"
"\t=== %f\n",
vec1[0], vec1[1], vec1[2],
point1[0], point1[1], point1[2],
vec2[0], vec2[1], vec2[2],
point2[0], point2[1], point2[2],
vector_intersect_angle(vec1, point1, vec2, point2));
/* vector intersect angle */
vec1[0] = 0.0; point1[0] = 0.0;
vec1[1] = 4.0; point1[1] = 0.0;
vec1[2] = 0.0; point1[2] = 0.0;
vec2[0] = 0.0; point2[0] = 0.0;
vec2[1] = 0.0; point2[1] = 0.0;
vec2[2] = 4.0; point2[2] = 0.0;
fprintf(stderr, "\n\t ---- VECTOR ANGLE INTERSECT INTERSECTING -----\n"
"\t1: (%f %f %f) -> (%f %f %f)\n"
"\t2: (%f %f %f) -> (%f %f %f)\n"
"\t=== %f\n",
vec1[0], vec1[1], vec1[2],
point1[0], point1[1], point1[2],
vec2[0], vec2[1], vec2[2],
point2[0], point2[1], point2[2],
vector_intersect_angle(vec1, point1, vec2, point2));
#endif
return 0;
}
