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This commit is contained in:
Gabriele Cosmo
2020-12-04 12:30:43 +01:00
parent 67ba86d073
commit dab42d2018
3770 changed files with 226369 additions and 286486 deletions
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source/analysis/g4tools/include/tools/lina/qrot
+25 -25
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@@ -96,12 +96,12 @@ public:
// Optimize by doing 1 div and 4 muls instead of 4 divs.
T inv = one() / length;
a_r.m_quat.set_value(-m_quat.v0() * inv,
-m_quat.v1() * inv,
-m_quat.v2() * inv,
m_quat.v3() * inv);
return true;
}
@@ -124,7 +124,7 @@ public:
bool set_value(const VEC3& a_from,const VEC3& a_to,T(*a_sqrt)(T),T(*a_fabs)(T)) {
// code taken from coin3d/SbRotation.
//NOTE : coin3d/SbMatrix logic is transposed relative to us.
VEC3 from(a_from);
if(from.normalize()==T()) return false;
VEC3 to(a_to);
@@ -210,10 +210,10 @@ public:
unsigned int k = (j+1)%3;
T _s = a_sqrt((a_m.value(i,i) - (a_m.value(j,j) + a_m.value(k,k))) + a_m.v33());
m_quat.set_value(i,_s * half());
_s = half() / _s;
m_quat.v3((a_m.value(k,j) - a_m.value(j,k)) * _s);
m_quat.set_value(j,(a_m.value(j,i) + a_m.value(i,j)) * _s);
m_quat.set_value(k,(a_m.value(k,i) + a_m.value(i,k)) * _s);
@@ -228,7 +228,7 @@ public:
void value(MAT4& a_m) const {
//Return this rotation in the form of a matrix.
//NOTE : in coin3d/SbRotation, it looks as if "w <-> -w", but coin3d/SbMatrix logic is transposed relative to us.
const T x = m_quat.v0();
const T y = m_quat.v1();
const T z = m_quat.v2();
@@ -240,19 +240,19 @@ public:
a_m.v01(2*x*y - 2*w*z);
a_m.v02(2*x*z + 2*w*y);
a_m.v03(0);
// second row :
a_m.v10(2*x*y + 2*w*z);
a_m.v11(w*w - x*x + y*y - z*z);
a_m.v12(2*y*z - 2*w*x);
a_m.v13(0);
// third row :
a_m.v20(2*x*z - 2*w*y);
a_m.v21(2*y*z + 2*w*x);
a_m.v22(w*w - x*x - y*y + z*z);
a_m.v23(0);
// fourth row :
a_m.v30(0);
a_m.v31(0);
@@ -264,7 +264,7 @@ public:
T value_3(MAT3& a_m) const {
//Return this rotation in the form of a 3D matrix.
//NOTE : in coin3d/SbRotation, it looks as if "w <-> -w", but coin3d/SbMatrix logic is transposed relative to us.
const T x = m_quat.v0();
const T y = m_quat.v1();
const T z = m_quat.v2();
@@ -275,17 +275,17 @@ public:
a_m.v00(w*w + x*x - y*y - z*z);
a_m.v01(2*x*y - 2*w*z);
a_m.v02(2*x*z + 2*w*y);
// second row :
a_m.v10(2*x*y + 2*w*z);
a_m.v11(w*w - x*x + y*y - z*z);
a_m.v12(2*y*z - 2*w*x);
// third row :
a_m.v20(2*x*z - 2*w*y);
a_m.v21(2*y*z + 2*w*x);
a_m.v22(w*w - x*x - y*y + z*z);
// fourth row :
//a_m.v30(0);
//a_m.v31(0);
@@ -299,20 +299,20 @@ public:
const T y = m_quat.v1();
const T z = m_quat.v2();
const T w = m_quat.v3();
// first row :
T v0 = (w*w + x*x - y*y - z*z) * a_in.v0()
+ (2*x*y - 2*w*z) * a_in.v1()
+ (2*x*z + 2*w*y) * a_in.v2();
T v1 = (2*x*y + 2*w*z) * a_in.v0()
+(w*w - x*x + y*y - z*z) * a_in.v1()
+ (2*y*z - 2*w*x) * a_in.v2();
T v2 = (2*x*z - 2*w*y) * a_in.v0()
+ (2*y*z + 2*w*x) * a_in.v1()
+(w*w - x*x - y*y + z*z) * a_in.v2();
a_out.set_value(v0,v1,v2);
}
@@ -321,20 +321,20 @@ public:
const T y = m_quat.v1();
const T z = m_quat.v2();
const T w = m_quat.v3();
// first row :
T v0 = (w*w + x*x - y*y - z*z) * a_v.v0()
+ (2*x*y - 2*w*z) * a_v.v1()
+ (2*x*z + 2*w*y) * a_v.v2();
T v1 = (2*x*y + 2*w*z) * a_v.v0()
+(w*w - x*x + y*y - z*z) * a_v.v1()
+ (2*y*z - 2*w*x) * a_v.v2();
T v2 = (2*x*z - 2*w*y) * a_v.v0()
+ (2*y*z + 2*w*x) * a_v.v1()
+(w*w - x*x - y*y + z*z) * a_v.v2();
a_v.set_value(v0,v1,v2);
}
@@ -343,20 +343,20 @@ public:
const T y = m_quat.v1();
const T z = m_quat.v2();
const T w = m_quat.v3();
// first row :
T v0 = (w*w + x*x - y*y - z*z) * a_x
+ (2*x*y - 2*w*z) * a_y
+ (2*x*z + 2*w*y) * a_z;
T v1 = (2*x*y + 2*w*z) * a_x
+(w*w - x*x + y*y - z*z) * a_y
+ (2*y*z - 2*w*x) * a_z;
T v2 = (2*x*z - 2*w*y) * a_x
+ (2*y*z + 2*w*x) * a_y
+(w*w - x*x - y*y + z*z) * a_z;
a_x = v0;
a_y = v1;
a_z = v2;