csQuaternion csQuaternion::SLerp (const csQuaternion& q2, float t) const
{
float omega, cosom, invsinom, scale0, scale1;
csQuaternion quato(q2);
// decide if one of the quaternions is backwards
float a = (*this-q2).SquaredNorm ();
float b = (*this+q2).SquaredNorm ();
if (a > b)
{
quato = -q2;
}
// Calculate dot between quats
cosom = Dot (quato);
// Make sure the two quaternions are not exactly opposite? (within a little
// slop).
if (cosom > -0.9998f)
{
// Are they more than a little bit different? Avoid a divided by zero
// and lerp if not.
if (cosom < 0.9998f)
{
// Yes, do a slerp
omega = acosf (cosom);
invsinom = 1.0f / sinf (omega);
scale0 = sinf ((1.0f - t) * omega) * invsinom;
scale1 = sinf (t * omega) * invsinom;
}
else
{
// Not a very big difference, do a lerp
scale0 = 1.0f - t;
scale1 = t;
}
return csQuaternion (
scale0 * v.x + scale1 * quato.v.x,
scale0 * v.y + scale1 * quato.v.y,
scale0 * v.z + scale1 * quato.v.z,
scale0 * w + scale1 * quato.w);
}
// The quaternions are nearly opposite so to avoid a divided by zero error
// Calculate a perpendicular quaternion and slerp that direction
scale0 = sin ((1.0f - t) * PI);
scale1 = sin (t * PI);
return csQuaternion (
scale0 * v.x + scale1 * -quato.v.y,
scale0 * v.y + scale1 * quato.v.x,
scale0 * v.z + scale1 * -quato.w,
scale0 * w + scale1 * quato.v.z);
}
void SIPBuilder::AuRegister( osip_message_t* msg, char** rtmeg, size_t* rtlen,
std::string &via_branch_num, struct DialogInfo dlg_info,
struct ReAuthInfo re_au)
{
string uas_ip = re_au.uas_ip;
string uas_listen_port_str = re_au.uas_port_str;
string local_dev_passwd_str = re_au.passwd;
string remote_dev_name = re_au.remote_dev_name;
string from_tag_num = dlg_info.from_tag_num;
string call_id_num = dlg_info.call_id_num;
int pos = 0;
string realm;
string nonce;
if( NULL != msg)
{
while (!osip_list_eol (&msg->www_authenticates, pos))
{
osip_www_authenticate_t* auth;
auth = (osip_www_authenticate_t *) osip_list_get (&msg->www_authenticates, pos);
realm = string(auth->realm);
nonce = string(auth->nonce);
break;
}
}
string quato("\"");
string uac_ip = _local_ip_str_;
string uac_listen_port_str = _local_port_str_;
string local_dev_name = _dev_name_;
string protocol = "UDP";
string request_line;
stringstream request_stream;
request_stream<<"REGISTER sip:"<< remote_dev_name<<"@"<< uas_ip<<":"<< uas_listen_port_str<<" SIP/2.0\r\n";
request_line = request_stream.str();
string via_header;
string randnum = _RandomNum();
via_branch_num = randnum;
via_header = "Via: SIP/2.0/"+protocol+" "+uac_ip+":"+uac_listen_port_str+";rport;branch=z9hG4bK"+randnum+"\r\n";
string to_header;
stringstream stream_to_header;
stream_to_header << "To: <sip:" << local_dev_name << "@" << uac_ip << ":" << uac_listen_port_str<<">\r\n";
to_header = stream_to_header.str();
string from_header;
string from_tag = string("tag=") + from_tag_num;
stringstream stream_from_header;
stream_from_header<< "From: <sip:"<< local_dev_name <<"@"<<uac_ip << ":" << uac_listen_port_str<<">;"<< from_tag<<"\r\n";
from_header = stream_from_header.str();
string call_id_header = string("Call-ID: " + call_id_num + "\r\n");
string cseq_header = string("CSeq: 2 REGISTER\r\n");
string contact_header;
stringstream stream_contact_header;
stream_contact_header<<"Contact: <sip:" << local_dev_name << "@" << uac_ip << ":"<< uac_listen_port_str<<">\r\n";
contact_header = stream_contact_header.str();
string uri = quato +"sip:" + remote_dev_name+ "@"+ uas_ip+":"+uas_listen_port_str + quato;
string response = _RegisterMd5( local_dev_name, realm, local_dev_passwd_str,
uri, nonce);
string au_header;
au_header = "Authorization: Digest username="******",realm="+ realm +",nonce=" + nonce
+ ",uri=" + uri + ",response="+ quato +
response + quato+",algorithm=MD5\r\n";
string forwords = string("Max-Forwards: 70\r\n");
string expires = string("Expires: 3600\r\n");
string contentlenth = string("Content-Length: 0\r\n");
string cflr = string("\r\n");
string sip_msg_str = request_line + via_header + to_header + from_header
+ call_id_header + cseq_header + contact_header +au_header + forwords
+ expires + contentlenth + cflr;
#ifdef DEBUG
cout<<"check Re Au:"<<endl;
cout<<sip_msg_str<<endl;
#endif
size_t sip_len = sip_msg_str.length();
char* sip_msg_c = (char*)malloc(sizeof(char)* sip_len);
memcpy( sip_msg_c, sip_msg_str.c_str(), sip_len);
*rtmeg = sip_msg_c;
*rtlen = sip_len;
return;
}
