openmohaa/code/skeletor/SkelQuat.h

/*
===========================================================================
Copyright (C) 2015 the OpenMoHAA team

This file is part of OpenMoHAA source code.

OpenMoHAA source code is free software; you can redistribute it
and/or modify it under the terms of the GNU General Public License as
published by the Free Software Foundation; either version 2 of the License,
or (at your option) any later version.

OpenMoHAA source code is distributed in the hope that it will be
useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU General Public License for more details.

You should have received a copy of the GNU General Public License
along with OpenMoHAA source code; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
===========================================================================
*/

// SkelQuat.h : Skeletor Quat

#ifndef __SKELQUAT_H__
#define __SKELQUAT_H__

#ifdef __cplusplus

#include "SkelVec3.h"
#include "SkelVec4.h"
#include "SkelMat3.h"
#include "SkelMat4.h"

class SkelQuat {
public:
	union {
		float val[ 4 ];
		struct {
			float x;
			float y;
			float z;
			float w;
		};
	};

	SkelQuat();
	SkelQuat( SkelVec3 vec );
	SkelQuat( SkelMat3 mat3 );
	SkelQuat( SkelMat4 mat4 );
	SkelQuat( float x, float y, float z, float w );
	SkelQuat( float *quat );
	SkelQuat( const float *quat );
	SkelQuat( float w, const SkelVec3 *vec );

	float&		operator[] ( int index );
	float		operator[] ( int index ) const;

	operator float *( );
	operator float *( ) const;

	void	Set( float x, float y, float z, float w );
	void	Set( SkelVec4 vec4 );
	void	Set( float *quat );
	void	SetAngle( float a );
	void	SetAxis( SkelVec3 vec );

	void	Invert();
	float	Length() const;
	float	LengthSquared() const;
	void	Normalize();

	void	GetMat3( SkelMat3& mat3 ) const;
	void	GetMat4( SkelMat4& mat4 ) const;
	void	GetEulerAngles( float *angles ) const;
	bool	IsUnit() const;
	void	MakeIdentity();
	bool	IsIdentity();
	bool	IsValid() const;
};

inline
SkelQuat::SkelQuat()
{
	QuatClear( val );
}

inline
SkelQuat::SkelQuat( SkelVec3 vec )
{
	EulerToQuat( vec.val, val );
}

inline
SkelQuat::SkelQuat( SkelMat3 mat3 )
{
	MatToQuat( mat3.val, val );
}

inline
SkelQuat::SkelQuat( SkelMat4 mat4 )
{
	MatToQuat( mat4.val, val );
}

inline
SkelQuat::SkelQuat( float x, float y, float z, float w )
{
	Set( x, y, z, w );
}

inline
SkelQuat::SkelQuat( float *quat )
{
	val[ 0 ] = quat[ 0 ];
	val[ 1 ] = quat[ 1 ];
	val[ 2 ] = quat[ 2 ];
	val[ 3 ] = quat[ 3 ];
}

inline
SkelQuat::SkelQuat( const float *quat )
{
	val[ 0 ] = quat[ 0 ];
	val[ 1 ] = quat[ 1 ];
	val[ 2 ] = quat[ 2 ];
	val[ 3 ] = quat[ 3 ];
}

inline
SkelQuat::SkelQuat( float w, const SkelVec3 *vec )
{
	val[ 0 ] = vec->x;
	val[ 1 ] = vec->y;
	val[ 2 ] = vec->z;
	val[ 3 ] = w;
}

inline
void SkelQuat::Set( float x, float y, float z, float w )
{
	this->x = x;
	this->y = y;
	this->z = z;
	this->w = w;
}

inline
void SkelQuat::Set( SkelVec4 vec4 )
{
	val[ 0 ] = vec4.val[ 0 ];
	val[ 1 ] = vec4.val[ 1 ];
	val[ 2 ] = vec4.val[ 2 ];
	val[ 3 ] = vec4.val[ 3 ];
}

inline
void SkelQuat::Set( float *quat )
{
	val[ 0 ] = quat[ 0 ];
	val[ 1 ] = quat[ 1 ];
	val[ 2 ] = quat[ 2 ];
	val[ 3 ] = quat[ 3 ];
}

inline
void SkelQuat::SetAngle( float a )
{
	SkelVec3 vec;
	vec.y = a;
	EulerToQuat( vec.val, val );
}

inline
void SkelQuat::SetAxis( SkelVec3 vec )
{
	EulerToQuat( vec.val, val );
}

inline
void SkelQuat::Invert()
{
	QuatInverse( val );
}

inline
float SkelQuat::Length() const
{
	return ( float )sqrt( val[ 0 ] * val[ 0 ] + val[ 1 ] * val[ 1 ] + val[ 2 ] * val[ 2 ] + val[ 3 ] * val[ 3 ] );
}

inline
float SkelQuat::LengthSquared() const
{
	return val[ 0 ] * val[ 0 ] + val[ 1 ] * val[ 1 ] + val[ 2 ] * val[ 2 ] + val[ 3 ] * val[ 3 ];
}

inline
void SkelQuat::Normalize()
{
	VectorNormalize( val );
}

inline
void SkelQuat::GetMat3( SkelMat3& mat3 ) const
{
	QuatToMat( val, mat3.val );
}

inline
void SkelQuat::GetMat4( SkelMat4& mat4 ) const
{
	QuatToMat( val, mat4.val );
}

inline
void SkelQuat::GetEulerAngles( float *angles ) const
{
	QuatToAngles( val, angles );
}

inline
bool SkelQuat::IsUnit() const
{
	// FIXME: stub
	return false;
}

inline
void SkelQuat::MakeIdentity()
{
	x = 0.0f;
	y = 0.0f;
	z = 0.0f;
	w = 1.0f;
}

inline
bool SkelQuat::IsIdentity()
{
	return ( x == 0.0f ) && ( y == 0.0f ) && ( z == 0.0f ) && ( w == 1.0f );
}

inline
bool SkelQuat::IsValid() const
{
	// FIXME: stub
	return true;
}

inline
void Slerp( SkelQuat &from, SkelQuat &to, float t, SkelQuat *out )
{
	static_assert(sizeof(float) == sizeof(int), "Float must be the same size as Int");
	float f;
	float f2;

	f = from.x * to.x + from.y * to.y + from.z * to.z + from.w * to.w;
	f2 = 1.0 - t;

	// little hack because I don't know how can this operation be converted to float...
	*(int*)&f = (*(int*)&f & 0x80000000) ^ *(int*)&f2;

	out->x = to.x * t + from.x * f;
	out->y = to.y * t + from.y * f;
	out->z = to.z * t + from.z * f;
	out->w = to.w * t + from.w * f;

	f = 1.0 / out->Length();
	out->x = out->x * f;
	out->y = out->y * f;
	out->z = out->z * f;
	out->w = out->w * f;
}

inline
SkelQuat::operator float *( )
{
	return val;
}

inline
SkelQuat::operator float *( ) const
{
	return ( float * )val;
}

inline
float& SkelQuat::operator[]( int index )
{
	return val[ index ];
}

inline
float SkelQuat::operator[]( int index ) const
{
	return val[ index ];
}

#else

typedef struct {
	union {
		float val[ 4 ];
		struct {
			float x;
			float y;
			float z;
			float w;
		};
	};
} SkelQuat;

#endif

#endif // __SKELQUAT_H__