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Templated the scalar in the quaternion to matrix helpers

This commit is contained in:
Paolo Cignoni 2017-10-03 16:17:42 +02:00
parent 52ab8a56a5
commit 38ca45f71d
1 changed files with 14 additions and 95 deletions
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109
vcg/math/quaternion.h
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@ -20,88 +20,6 @@
* for more details. * * for more details. *
* * * *
****************************************************************************/ ****************************************************************************/
/****************************************************************************
History
$Log: not supported by cvs2svn $
Revision 1.18 2007/07/03 16:07:09 corsini
add DCM to Euler Angles method (to implement)
Revision 1.17 2007/02/06 12:24:07 tarini
added a missing "Quaternion<S>::" in "FromEulerAngles"
Revision 1.16 2007/02/05 13:55:21 corsini
add euler angle to quaternion conversion
Revision 1.15 2006/06/22 08:00:26 ganovelli
toMatrix with matrix33 added
Revision 1.14 2005/04/17 21:57:03 ganovelli
tolto il const a interpolate
Revision 1.13 2005/04/15 09:19:50 ponchio
Typo: Point3 -> Point4
Revision 1.12 2005/04/14 17:22:34 ponchio
*** empty log message ***
Revision 1.11 2005/04/14 11:35:09 ponchio
*** empty log message ***
Revision 1.10 2004/12/15 18:45:50 tommyfranken
*** empty log message ***
Revision 1.9 2004/10/22 14:35:42 ponchio
m.element(x, y) -> m[x][y]
Revision 1.8 2004/10/07 13:54:03 ganovelli
added SetIdentity
Revision 1.7 2004/04/07 10:48:37 cignoni
updated access to matrix44 elements through V() instead simple []
Revision 1.6 2004/03/25 14:57:49 ponchio
Microerror. ($LOG$ -> $Log: not supported by cvs2svn $
Microerror. ($LOG$ -> Revision 1.18 2007/07/03 16:07:09 corsini
Microerror. ($LOG$ -> add DCM to Euler Angles method (to implement)
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.17 2007/02/06 12:24:07 tarini
Microerror. ($LOG$ -> added a missing "Quaternion<S>::" in "FromEulerAngles"
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.16 2007/02/05 13:55:21 corsini
Microerror. ($LOG$ -> add euler angle to quaternion conversion
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.15 2006/06/22 08:00:26 ganovelli
Microerror. ($LOG$ -> toMatrix with matrix33 added
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.14 2005/04/17 21:57:03 ganovelli
Microerror. ($LOG$ -> tolto il const a interpolate
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.13 2005/04/15 09:19:50 ponchio
Microerror. ($LOG$ -> Typo: Point3 -> Point4
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.12 2005/04/14 17:22:34 ponchio
Microerror. ($LOG$ -> *** empty log message ***
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.11 2005/04/14 11:35:09 ponchio
Microerror. ($LOG$ -> *** empty log message ***
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.10 2004/12/15 18:45:50 tommyfranken
Microerror. ($LOG$ -> *** empty log message ***
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.9 2004/10/22 14:35:42 ponchio
Microerror. ($LOG$ -> m.element(x, y) -> m[x][y]
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.8 2004/10/07 13:54:03 ganovelli
Microerror. ($LOG$ -> added SetIdentity
Microerror. ($LOG$ ->
Microerror. ($LOG$ -> Revision 1.7 2004/04/07 10:48:37 cignoni
Microerror. ($LOG$ -> updated access to matrix44 elements through V() instead simple []
Microerror. ($LOG$ ->
****************************************************************************/
#ifndef QUATERNION_H #ifndef QUATERNION_H
#define QUATERNION_H #define QUATERNION_H
@ -133,7 +51,6 @@ public:
void Invert(); void Invert();
Quaternion<S> Inverse() const; Quaternion<S> Inverse() const;
void SetIdentity(); void SetIdentity();
void FromAxis(const S phi, const Point3<S> &a); void FromAxis(const S phi, const Point3<S> &a);
@ -269,32 +186,34 @@ template <class S> Point3<S> Quaternion<S>::Rotate(const Point3<S> p) const {
template<class S, class M> void QuaternionToMatrix(const Quaternion<S> &q, M &m) { template<class S, class M> void QuaternionToMatrix(const Quaternion<S> &q, M &m) {
float x2 = q.V(1) + q.V(1); typedef typename M::ScalarType MScalarType;
float y2 = q.V(2) + q.V(2);
float z2 = q.V(3) + q.V(3); MScalarType x2 = q.V(1) + q.V(1);
MScalarType y2 = q.V(2) + q.V(2);
MScalarType z2 = q.V(3) + q.V(3);
{ {
float xx2 = q.V(1) * x2; MScalarType xx2 = q.V(1) * x2;
float yy2 = q.V(2) * y2; MScalarType yy2 = q.V(2) * y2;
float zz2 = q.V(3) * z2; MScalarType zz2 = q.V(3) * z2;
m[0][0] = 1.0f - yy2 - zz2; m[0][0] = 1.0f - yy2 - zz2;
m[1][1] = 1.0f - xx2 - zz2; m[1][1] = 1.0f - xx2 - zz2;
m[2][2] = 1.0f - xx2 - yy2; m[2][2] = 1.0f - xx2 - yy2;
} }
{ {
float yz2 = q.V(2) * z2; MScalarType yz2 = q.V(2) * z2;
float wx2 = q.V(0) * x2; MScalarType wx2 = q.V(0) * x2;
m[1][2] = yz2 - wx2; m[1][2] = yz2 - wx2;
m[2][1] = yz2 + wx2; m[2][1] = yz2 + wx2;
} }
{ {
float xy2 = q.V(1) * y2; MScalarType xy2 = q.V(1) * y2;
float wz2 = q.V(0) * z2; MScalarType wz2 = q.V(0) * z2;
m[0][1] = xy2 - wz2; m[0][1] = xy2 - wz2;
m[1][0] = xy2 + wz2; m[1][0] = xy2 + wz2;
} }
{ {
float xz2 = q.V(1) * z2; MScalarType xz2 = q.V(1) * z2;
float wy2 = q.V(0) * y2; MScalarType wy2 = q.V(0) * y2;
m[2][0] = xz2 - wy2; m[2][0] = xz2 - wy2;
m[0][2] = xz2 + wy2; m[0][2] = xz2 + wy2;
} }