mirror of
https://github.com/worldforge/cyphesis
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0d5ea4579a
* physics/Quaternion.h: Use forward declarations. * physics/Quaternion.cpp, rulesets/Py_Quaternion.h: Include quaternion definition where required.
62 lines
1.9 KiB
C++
62 lines
1.9 KiB
C++
// Cyphesis Online RPG Server and AI Engine
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// Copyright (C) 2000,2001 Alistair Riddoch
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//
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// This program is free software; you can redistribute it and/or modify
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// it under the terms of the GNU General Public License as published by
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// the Free Software Foundation; either version 2 of the License, or
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// (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful,
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// but WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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// GNU General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software Foundation,
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// Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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// $Id$
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#include "Quaternion.h"
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#include "Vector3D.h"
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#include <wfmath/quaternion.h>
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// The arguments to this function have been swapped over because in
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// the form provided in the example code, the result appeared to be
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// a rotation in the wrong direction. This may be a bug in my apogee
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// code, or it may be this code.
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template<class V>
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const Quaternion quaternionFromTo(const V & from, const V & to)
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{
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float cosT = Dot(from, to);
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if (cosT > 0.99999f) {
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return Quaternion(1.f, 0.f, 0.f, 0.f);
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} else if (cosT < -0.99999f) {
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V t(0.0, from.x(), -from.y());
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if (t.sqrMag() < 1e-12) {
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t = V(-from.z(), 0.0, from.x());
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}
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t.normalize();
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return Quaternion(0.f, t.x(), t.y(), t.z());
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}
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V t = Cross(from, to);
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t.normalize();
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float ss = sqrtf(0.5 * (1.0 - cosT));
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float x = t.x() * ss;
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float y = t.y() * ss;
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float z = t.z() * ss;
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float w = std::sqrt(0.5 * (1.0 + cosT));
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return Quaternion(w, x, y, z);
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}
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template
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const Quaternion quaternionFromTo<Vector3D>(const Vector3D &, const Vector3D&);
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