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Diffstat (limited to 'renderscript/include/rs_quaternion.rsh')
| -rw-r--r-- | renderscript/include/rs_quaternion.rsh | 374 |
1 files changed, 374 insertions, 0 deletions
diff --git a/renderscript/include/rs_quaternion.rsh b/renderscript/include/rs_quaternion.rsh new file mode 100644 index 0000000..55d33cf --- /dev/null +++ b/renderscript/include/rs_quaternion.rsh @@ -0,0 +1,374 @@ +/* + * Copyright (C) 2016 The Android Open Source Project + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +// Don't edit this file! It is auto-generated by frameworks/rs/api/generate.sh. + +/* + * rs_quaternion.rsh: Quaternion Functions + * + * The following functions manipulate quaternions. + */ + +#ifndef RENDERSCRIPT_RS_QUATERNION_RSH +#define RENDERSCRIPT_RS_QUATERNION_RSH + +/* + * rsQuaternionAdd: Add two quaternions + * + * Adds two quaternions, i.e. *q += *rhs; + * + * Parameters: + * q: Destination quaternion to add to. + * rhs: Quaternion to add. + */ +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionAdd(rs_quaternion* q, const rs_quaternion* rhs) { + q->w += rhs->w; + q->x += rhs->x; + q->y += rhs->y; + q->z += rhs->z; +} +#endif + +/* + * rsQuaternionConjugate: Conjugate a quaternion + * + * Conjugates the quaternion. + * + * Parameters: + * q: Quaternion to modify. + */ +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionConjugate(rs_quaternion* q) { + q->x = -q->x; + q->y = -q->y; + q->z = -q->z; +} +#endif + +/* + * rsQuaternionDot: Dot product of two quaternions + * + * Returns the dot product of two quaternions. + * + * Parameters: + * q0: First quaternion. + * q1: Second quaternion. + */ +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline float __attribute__((overloadable)) + rsQuaternionDot(const rs_quaternion* q0, const rs_quaternion* q1) { + return q0->w*q1->w + q0->x*q1->x + q0->y*q1->y + q0->z*q1->z; +} +#endif + +/* + * rsQuaternionGetMatrixUnit: Get a rotation matrix from a quaternion + * + * Computes a rotation matrix from the normalized quaternion. + * + * Parameters: + * m: Resulting matrix. + * q: Normalized quaternion. + */ +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionGetMatrixUnit(rs_matrix4x4* m, const rs_quaternion* q) { + float xx = q->x * q->x; + float xy = q->x * q->y; + float xz = q->x * q->z; + float xw = q->x * q->w; + float yy = q->y * q->y; + float yz = q->y * q->z; + float yw = q->y * q->w; + float zz = q->z * q->z; + float zw = q->z * q->w; + + m->m[0] = 1.0f - 2.0f * ( yy + zz ); + m->m[4] = 2.0f * ( xy - zw ); + m->m[8] = 2.0f * ( xz + yw ); + m->m[1] = 2.0f * ( xy + zw ); + m->m[5] = 1.0f - 2.0f * ( xx + zz ); + m->m[9] = 2.0f * ( yz - xw ); + m->m[2] = 2.0f * ( xz - yw ); + m->m[6] = 2.0f * ( yz + xw ); + m->m[10] = 1.0f - 2.0f * ( xx + yy ); + m->m[3] = m->m[7] = m->m[11] = m->m[12] = m->m[13] = m->m[14] = 0.0f; + m->m[15] = 1.0f; +} +#endif + +/* + * rsQuaternionLoadRotateUnit: Quaternion that represents a rotation about an arbitrary unit vector + * + * Loads a quaternion that represents a rotation about an arbitrary unit vector. + * + * Parameters: + * q: Destination quaternion. + * rot: Angle to rotate by, in radians. + * x: X component of the vector. + * y: Y component of the vector. + * z: Z component of the vector. + */ +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionLoadRotateUnit(rs_quaternion* q, float rot, float x, float y, float z) { + rot *= (float)(M_PI / 180.0f) * 0.5f; + float c = cos(rot); + float s = sin(rot); + + q->w = c; + q->x = x * s; + q->y = y * s; + q->z = z * s; +} +#endif + +/* + * rsQuaternionSet: Create a quaternion + * + * Creates a quaternion from its four components or from another quaternion. + * + * Parameters: + * q: Destination quaternion. + * w: W component. + * x: X component. + * y: Y component. + * z: Z component. + * rhs: Source quaternion. + */ +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionSet(rs_quaternion* q, float w, float x, float y, float z) { + q->w = w; + q->x = x; + q->y = y; + q->z = z; +} +#endif + +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionSet(rs_quaternion* q, const rs_quaternion* rhs) { + q->w = rhs->w; + q->x = rhs->x; + q->y = rhs->y; + q->z = rhs->z; +} +#endif + +/* + * rsQuaternionLoadRotate: Create a rotation quaternion + * + * Loads a quaternion that represents a rotation about an arbitrary vector + * (doesn't have to be unit) + * + * Parameters: + * q: Destination quaternion. + * rot: Angle to rotate by. + * x: X component of a vector. + * y: Y component of a vector. + * z: Z component of a vector. + */ +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionLoadRotate(rs_quaternion* q, float rot, float x, float y, float z) { + const float len = x*x + y*y + z*z; + if (len != 1) { + const float recipLen = 1.f / sqrt(len); + x *= recipLen; + y *= recipLen; + z *= recipLen; + } + rsQuaternionLoadRotateUnit(q, rot, x, y, z); +} +#endif + +/* + * rsQuaternionNormalize: Normalize a quaternion + * + * Normalizes the quaternion. + * + * Parameters: + * q: Quaternion to normalize. + */ +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionNormalize(rs_quaternion* q) { + const float len = rsQuaternionDot(q, q); + if (len != 1) { + const float recipLen = 1.f / sqrt(len); + q->w *= recipLen; + q->x *= recipLen; + q->y *= recipLen; + q->z *= recipLen; + } +} +#endif + +/* + * rsQuaternionMultiply: Multiply a quaternion by a scalar or another quaternion + * + * Multiplies a quaternion by a scalar or by another quaternion, e.g + * *q = *q * scalar; or *q = *q * *rhs;. + * + * Parameters: + * q: Destination quaternion. + * scalar: Scalar to multiply the quaternion by. + * rhs: Quaternion to multiply the destination quaternion by. + */ +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionMultiply(rs_quaternion* q, float scalar) { + q->w *= scalar; + q->x *= scalar; + q->y *= scalar; + q->z *= scalar; +} +#endif + +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionMultiply(rs_quaternion* q, const rs_quaternion* rhs) { + rs_quaternion qtmp; + rsQuaternionSet(&qtmp, q); + + q->w = qtmp.w*rhs->w - qtmp.x*rhs->x - qtmp.y*rhs->y - qtmp.z*rhs->z; + q->x = qtmp.w*rhs->x + qtmp.x*rhs->w + qtmp.y*rhs->z - qtmp.z*rhs->y; + q->y = qtmp.w*rhs->y + qtmp.y*rhs->w + qtmp.z*rhs->x - qtmp.x*rhs->z; + q->z = qtmp.w*rhs->z + qtmp.z*rhs->w + qtmp.x*rhs->y - qtmp.y*rhs->x; + rsQuaternionNormalize(q); +} +#endif + +/* + * rsQuaternionSlerp: Spherical linear interpolation between two quaternions + * + * Performs spherical linear interpolation between two quaternions. + * + * Parameters: + * q: Result quaternion from the interpolation. + * q0: First input quaternion. + * q1: Second input quaternion. + * t: How much to interpolate by. + */ +#if !defined(RS_VERSION) || (RS_VERSION <= 23) +static inline void __attribute__((overloadable)) + rsQuaternionSlerp(rs_quaternion* q, const rs_quaternion* q0, const rs_quaternion* q1, float t) { + if (t <= 0.0f) { + rsQuaternionSet(q, q0); + return; + } + if (t >= 1.0f) { + rsQuaternionSet(q, q1); + return; + } + + rs_quaternion tempq0, tempq1; + rsQuaternionSet(&tempq0, q0); + rsQuaternionSet(&tempq1, q1); + + float angle = rsQuaternionDot(q0, q1); + if (angle < 0) { + rsQuaternionMultiply(&tempq0, -1.0f); + angle *= -1.0f; + } + + float scale, invScale; + if (angle + 1.0f > 0.05f) { + if (1.0f - angle >= 0.05f) { + float theta = acos(angle); + float invSinTheta = 1.0f / sin(theta); + scale = sin(theta * (1.0f - t)) * invSinTheta; + invScale = sin(theta * t) * invSinTheta; + } else { + scale = 1.0f - t; + invScale = t; + } + } else { + rsQuaternionSet(&tempq1, tempq0.z, -tempq0.y, tempq0.x, -tempq0.w); + scale = sin(M_PI * (0.5f - t)); + invScale = sin(M_PI * t); + } + + rsQuaternionSet(q, tempq0.w*scale + tempq1.w*invScale, tempq0.x*scale + tempq1.x*invScale, + tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale); +} +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionAdd(rs_quaternion* q, const rs_quaternion* rhs); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionConjugate(rs_quaternion* q); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern float __attribute__((overloadable)) + rsQuaternionDot(const rs_quaternion* q0, const rs_quaternion* q1); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionGetMatrixUnit(rs_matrix4x4* m, const rs_quaternion* q); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionLoadRotateUnit(rs_quaternion* q, float rot, float x, float y, float z); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionSet(rs_quaternion* q, float w, float x, float y, float z); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionSet(rs_quaternion* q, const rs_quaternion* rhs); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionLoadRotate(rs_quaternion* q, float rot, float x, float y, float z); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionNormalize(rs_quaternion* q); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionMultiply(rs_quaternion* q, float scalar); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionMultiply(rs_quaternion* q, const rs_quaternion* rhs); +#endif + +#if (defined(RS_VERSION) && (RS_VERSION >= 24)) +extern void __attribute__((overloadable)) + rsQuaternionSlerp(rs_quaternion* q, const rs_quaternion* q0, const rs_quaternion* q1, float t); +#endif + +#endif // RENDERSCRIPT_RS_QUATERNION_RSH |