146 lines
7.0 KiB
C++
146 lines
7.0 KiB
C++
#pragma once
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////////////////////////////////////////////////////////////////////////////////
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// The MIT License (MIT)
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//
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// Copyright (c) 2017 Nicholas Frechette & Animation Compression Library contributors
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// Copyright (c) 2018 Nicholas Frechette & Realtime Math contributors
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy
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// of this software and associated documentation files (the "Software"), to deal
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// in the Software without restriction, including without limitation the rights
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// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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// copies of the Software, and to permit persons to whom the Software is
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// furnished to do so, subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
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// SOFTWARE.
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////////////////////////////////////////////////////////////////////////////////
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#include "rtm/math.h"
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#include "rtm/quatd.h"
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#include "rtm/vector4d.h"
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#include "rtm/matrix3x4d.h"
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#include "rtm/impl/compiler_utils.h"
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#include "rtm/impl/qvv_common.h"
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RTM_IMPL_FILE_PRAGMA_PUSH
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namespace rtm
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{
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//////////////////////////////////////////////////////////////////////////
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// Casts a QVV transform float32 variant to a float64 variant.
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK RTM_FORCE_INLINE qvvd qvv_cast(const qvvf& input) RTM_NO_EXCEPT
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{
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return qvvd{ quat_cast(input.rotation), vector_cast(input.translation), vector_cast(input.scale) };
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}
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//////////////////////////////////////////////////////////////////////////
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// Multiplies two QVV transforms.
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// Multiplication order is as follow: local_to_world = qvv_mul(local_to_object, object_to_world)
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// NOTE: When scale is present, multiplication will not properly handle skew/shear,
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// use affine matrices if you have issues.
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK inline qvvd qvv_mul(const qvvd& lhs, const qvvd& rhs) RTM_NO_EXCEPT
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{
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const vector4d min_scale = vector_min(lhs.scale, rhs.scale);
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const vector4d scale = vector_mul(lhs.scale, rhs.scale);
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if (vector_any_less_than3(min_scale, vector_zero()))
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{
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// If we have negative scale, we go through a matrix
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const matrix3x4d lhs_mtx = matrix_from_qvv(lhs);
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const matrix3x4d rhs_mtx = matrix_from_qvv(rhs);
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matrix3x4d result_mtx = matrix_mul(lhs_mtx, rhs_mtx);
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result_mtx = matrix_remove_scale(result_mtx);
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const vector4d sign = vector_sign(scale);
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result_mtx.x_axis = vector_mul(result_mtx.x_axis, vector_dup_x(sign));
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result_mtx.y_axis = vector_mul(result_mtx.y_axis, vector_dup_y(sign));
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result_mtx.z_axis = vector_mul(result_mtx.z_axis, vector_dup_z(sign));
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const quatd rotation = quat_from_matrix(result_mtx);
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const vector4d translation = result_mtx.w_axis;
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return qvv_set(rotation, translation, scale);
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}
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else
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{
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const quatd rotation = quat_mul(lhs.rotation, rhs.rotation);
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const vector4d translation = vector_add(quat_mul_vector3(vector_mul(lhs.translation, rhs.scale), rhs.rotation), rhs.translation);
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return qvv_set(rotation, translation, scale);
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}
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}
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//////////////////////////////////////////////////////////////////////////
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// Multiplies two QVV transforms ignoring 3D scale.
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// The resulting QVV transform with have a [1,1,1] 3D scale.
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// Multiplication order is as follow: local_to_world = qvv_mul(local_to_object, object_to_world)
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK inline qvvd qvv_mul_no_scale(const qvvd& lhs, const qvvd& rhs) RTM_NO_EXCEPT
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{
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const quatd rotation = quat_mul(lhs.rotation, rhs.rotation);
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const vector4d translation = vector_add(quat_mul_vector3(lhs.translation, rhs.rotation), rhs.translation);
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return qvv_set(rotation, translation, vector_set(1.0));
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}
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//////////////////////////////////////////////////////////////////////////
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// Multiplies a QVV transform and a 3D point.
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// Multiplication order is as follow: world_position = qvv_mul_point3(local_position, local_to_world)
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK inline vector4d qvv_mul_point3(const vector4d& point, const qvvd& qvv) RTM_NO_EXCEPT
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{
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return vector_add(quat_mul_vector3(vector_mul(point, qvv.scale), qvv.rotation), qvv.translation);
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}
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//////////////////////////////////////////////////////////////////////////
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// Multiplies a QVV transform and a 3D point ignoring 3D scale.
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// Multiplication order is as follow: world_position = qvv_mul_point3_no_scale(local_position, local_to_world)
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK inline vector4d qvv_mul_point3_no_scale(const vector4d& point, const qvvd& qvv) RTM_NO_EXCEPT
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{
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return vector_add(quat_mul_vector3(point, qvv.rotation), qvv.translation);
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}
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//////////////////////////////////////////////////////////////////////////
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// Returns the inverse of the input QVV transform.
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK inline qvvd qvv_inverse(const qvvd& input) RTM_NO_EXCEPT
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{
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const quatd inv_rotation = quat_conjugate(input.rotation);
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const vector4d inv_scale = vector_reciprocal(input.scale);
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const vector4d inv_translation = vector_neg(quat_mul_vector3(vector_mul(input.translation, inv_scale), inv_rotation));
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return qvv_set(inv_rotation, inv_translation, inv_scale);
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}
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//////////////////////////////////////////////////////////////////////////
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// Returns the inverse of the input QVV transform ignoring 3D scale.
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// The resulting QVV transform with have a [1,1,1] 3D scale.
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK inline qvvd qvv_inverse_no_scale(const qvvd& input) RTM_NO_EXCEPT
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{
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const quatd inv_rotation = quat_conjugate(input.rotation);
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const vector4d inv_translation = vector_neg(quat_mul_vector3(input.translation, inv_rotation));
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return qvv_set(inv_rotation, inv_translation, vector_set(1.0));
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}
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//////////////////////////////////////////////////////////////////////////
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// Returns a QVV transforms with the rotation part normalized.
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//////////////////////////////////////////////////////////////////////////
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RTM_DISABLE_SECURITY_COOKIE_CHECK RTM_FORCE_INLINE qvvd qvv_normalize(const qvvd& input) RTM_NO_EXCEPT
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{
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const quatd rotation = quat_normalize(input.rotation);
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return qvv_set(rotation, input.translation, input.scale);
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}
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}
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RTM_IMPL_FILE_PRAGMA_POP
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