int quat_FromMat(lua_State *L)
{
size_t nr, nc;
double t, s, r;
mat_t m;
quat_t q;
checkmat(L, 1, m, &nr, &nc);
if( !(((nr==3) && (nc==3)) || ((nr==4) && (nc==4))) )
return luaL_argerror(L, 1, "expected 3x3 or 4x4 matrix");
t = m[0][0] + m[1][1] + m[2][2];
if( t < 0 )
{
r = sqrt(1 + m[0][0] - m[1][1] - m[2][2]);
s = 0.5/r;
q[0] = (m[2][1] - m[1][2])*s;
q[1] = 0.5*r;
q[2] = (m[0][1] + m[1][0])*s;
q[3] = (m[2][0] + m[0][2])*s;
}
else
{
r = sqrt(1+t);
s = 0.5/r;
q[0] = 0.5*r;
q[1] = (m[2][1] - m[1][2])*s;
q[2] = (m[0][2] - m[2][0])*s;
q[3] = (m[1][0] + m[0][1])*s;
}
return pushquat(L, q);
}
int sparselu_check(float **SEQ, float **BENCH)
{
int ii,jj,ok=1;
for (ii=0; ((ii<bots_arg_size) && ok); ii++)
{
for (jj=0; ((jj<bots_arg_size) && ok); jj++)
{
if ((SEQ[ii*bots_arg_size+jj] == NULL) && (BENCH[ii*bots_arg_size+jj] != NULL)) ok = FALSE;
if ((SEQ[ii*bots_arg_size+jj] != NULL) && (BENCH[ii*bots_arg_size+jj] == NULL)) ok = FALSE;
if ((SEQ[ii*bots_arg_size+jj] != NULL) && (BENCH[ii*bots_arg_size+jj] != NULL))
ok = checkmat(SEQ[ii*bots_arg_size+jj], BENCH[ii*bots_arg_size+jj]);
}
}
if (ok) return BOTS_RESULT_SUCCESSFUL;
else return BOTS_RESULT_UNSUCCESSFUL;
}
int sparselu_check(float **SEQ,float **BENCH)
{
int ii;
int jj;
int ok = 1;
for (ii = 0; (ii < bots_arg_size) && (ok); ii++) {
for (jj = 0; (jj < bots_arg_size) && (ok); jj++) {
if (((SEQ[(ii * bots_arg_size) + jj]) == ((0L))) && ((BENCH[(ii * bots_arg_size) + jj]) != ((0L))))
ok = 0;
if (((SEQ[(ii * bots_arg_size) + jj]) != ((0L))) && ((BENCH[(ii * bots_arg_size) + jj]) == ((0L))))
ok = 0;
if (((SEQ[(ii * bots_arg_size) + jj]) != ((0L))) && ((BENCH[(ii * bots_arg_size) + jj]) != ((0L))))
ok = checkmat((SEQ[(ii * bots_arg_size) + jj]),(BENCH[(ii * bots_arg_size) + jj]));
}
}
if (ok)
return 1;
else
return 2;
}
