quaternion.h

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// Copyright (C) 2002-2012 Nikolaus Gebhardt
// This file is part of the "Irrlicht Engine".
// For conditions of distribution and use, see copyright notice in irrlicht.h

#ifndef __IRR_QUATERNION_H_INCLUDED__
#define __IRR_QUATERNION_H_INCLUDED__

#include "irrTypes.h"
#include "irrMath.h"
#include "matrix4.h"
#include "vector3d.h"

// NOTE: You *only* need this when updating an application from Irrlicht before 1.8 to Irrlicht 1.8 or later.
// Between Irrlicht 1.7 and Irrlicht 1.8 the quaternion-matrix conversions changed.
// Before the fix they had mixed left- and right-handed rotations.
// To test if your code was affected by the change enable IRR_TEST_BROKEN_QUATERNION_USE and try to compile your application.
// This defines removes those functions so you get compile errors anywhere you use them in your code.
// For every line with a compile-errors you have to change the corresponding lines like that:
// - When you pass the matrix to the quaternion constructor then replace the matrix by the transposed matrix.
// - For uses of getMatrix() you have to use quaternion::getMatrix_transposed instead.
// #define IRR_TEST_BROKEN_QUATERNION_USE

namespace irr
{
namespace core
{


class quaternion
{
        public:

                quaternion() : X(0.0f), Y(0.0f), Z(0.0f), W(1.0f) {}

                quaternion(f32 x, f32 y, f32 z, f32 w) : X(x), Y(y), Z(z), W(w) { }

                quaternion(f32 x, f32 y, f32 z);

                quaternion(const vector3df& vec);

#ifndef IRR_TEST_BROKEN_QUATERNION_USE
                quaternion(const matrix4& mat);
#endif

                bool operator==(const quaternion& other) const;

                bool operator!=(const quaternion& other) const;

                inline quaternion& operator=(const quaternion& other);

#ifndef IRR_TEST_BROKEN_QUATERNION_USE
                inline quaternion& operator=(const matrix4& other);
#endif

                quaternion operator+(const quaternion& other) const;

                quaternion operator*(const quaternion& other) const;

                quaternion operator*(f32 s) const;

                quaternion& operator*=(f32 s);

                vector3df operator*(const vector3df& v) const;

                quaternion& operator*=(const quaternion& other);

                inline f32 dotProduct(const quaternion& other) const;

                inline quaternion& set(f32 x, f32 y, f32 z, f32 w);

                inline quaternion& set(f32 x, f32 y, f32 z);

                inline quaternion& set(const core::vector3df& vec);

                inline quaternion& set(const core::quaternion& quat);

                inline bool equals(const quaternion& other,
                                const f32 tolerance = ROUNDING_ERROR_f32 ) const;

                inline quaternion& normalize();

#ifndef IRR_TEST_BROKEN_QUATERNION_USE
                matrix4 getMatrix() const;
#endif
                void getMatrixFast(matrix4 &dest) const;

                void getMatrix( matrix4 &dest, const core::vector3df &translation=core::vector3df() ) const;

                void getMatrixCenter( matrix4 &dest, const core::vector3df &center, const core::vector3df &translation ) const;

                inline void getMatrix_transposed( matrix4 &dest ) const;

                quaternion& makeInverse();


                quaternion& lerp(quaternion q1, quaternion q2, f32 time);


                quaternion& lerpN(quaternion q1, quaternion q2, f32 time);


                quaternion& slerp(quaternion q1, quaternion q2,
                                f32 time, f32 threshold=.05f);


                quaternion& fromAngleAxis (f32 angle, const vector3df& axis);

                void toAngleAxis (f32 &angle, core::vector3df& axis) const;

                void toEuler(vector3df& euler) const;

                quaternion& makeIdentity();

                quaternion& rotationFromTo(const vector3df& from, const vector3df& to);

                f32 X; // vectorial (imaginary) part
                f32 Y;
                f32 Z;
                f32 W; // real part
};


// Constructor which converts Euler angles to a quaternion
inline quaternion::quaternion(f32 x, f32 y, f32 z)
{
        set(x,y,z);
}


// Constructor which converts Euler angles to a quaternion
inline quaternion::quaternion(const vector3df& vec)
{
        set(vec.X,vec.Y,vec.Z);
}

#ifndef IRR_TEST_BROKEN_QUATERNION_USE
// Constructor which converts a matrix to a quaternion
inline quaternion::quaternion(const matrix4& mat)
{
        (*this) = mat;
}
#endif

// equal operator
inline bool quaternion::operator==(const quaternion& other) const
{
        return ((X == other.X) &&
                (Y == other.Y) &&
                (Z == other.Z) &&
                (W == other.W));
}

// inequality operator
inline bool quaternion::operator!=(const quaternion& other) const
{
        return !(*this == other);
}

// assignment operator
inline quaternion& quaternion::operator=(const quaternion& other)
{
        X = other.X;
        Y = other.Y;
        Z = other.Z;
        W = other.W;
        return *this;
}

#ifndef IRR_TEST_BROKEN_QUATERNION_USE
// matrix assignment operator
inline quaternion& quaternion::operator=(const matrix4& m)
{
        const f32 diag = m[0] + m[5] + m[10] + 1;

        if( diag > 0.0f )
        {
                const f32 scale = sqrtf(diag) * 2.0f; // get scale from diagonal

                // TODO: speed this up
                X = (m[6] - m[9]) / scale;
                Y = (m[8] - m[2]) / scale;
                Z = (m[1] - m[4]) / scale;
                W = 0.25f * scale;
        }
        else
        {
                if (m[0]>m[5] && m[0]>m[10])
                {
                        // 1st element of diag is greatest value
                        // find scale according to 1st element, and double it
                        const f32 scale = sqrtf(1.0f + m[0] - m[5] - m[10]) * 2.0f;

                        // TODO: speed this up
                        X = 0.25f * scale;
                        Y = (m[4] + m[1]) / scale;
                        Z = (m[2] + m[8]) / scale;
                        W = (m[6] - m[9]) / scale;
                }
                else if (m[5]>m[10])
                {
                        // 2nd element of diag is greatest value
                        // find scale according to 2nd element, and double it
                        const f32 scale = sqrtf(1.0f + m[5] - m[0] - m[10]) * 2.0f;

                        // TODO: speed this up
                        X = (m[4] + m[1]) / scale;
                        Y = 0.25f * scale;
                        Z = (m[9] + m[6]) / scale;
                        W = (m[8] - m[2]) / scale;
                }
                else
                {
                        // 3rd element of diag is greatest value
                        // find scale according to 3rd element, and double it
                        const f32 scale = sqrtf(1.0f + m[10] - m[0] - m[5]) * 2.0f;

                        // TODO: speed this up
                        X = (m[8] + m[2]) / scale;
                        Y = (m[9] + m[6]) / scale;
                        Z = 0.25f * scale;
                        W = (m[1] - m[4]) / scale;
                }
        }

        return normalize();
}
#endif


// multiplication operator
inline quaternion quaternion::operator*(const quaternion& other) const
{
        quaternion tmp;

        tmp.W = (other.W * W) - (other.X * X) - (other.Y * Y) - (other.Z * Z);
        tmp.X = (other.W * X) + (other.X * W) + (other.Y * Z) - (other.Z * Y);
        tmp.Y = (other.W * Y) + (other.Y * W) + (other.Z * X) - (other.X * Z);
        tmp.Z = (other.W * Z) + (other.Z * W) + (other.X * Y) - (other.Y * X);

        return tmp;
}


// multiplication operator
inline quaternion quaternion::operator*(f32 s) const
{
        return quaternion(s*X, s*Y, s*Z, s*W);
}


// multiplication operator
inline quaternion& quaternion::operator*=(f32 s)
{
        X*=s;
        Y*=s;
        Z*=s;
        W*=s;
        return *this;
}

// multiplication operator
inline quaternion& quaternion::operator*=(const quaternion& other)
{
        return (*this = other * (*this));
}

// add operator
inline quaternion quaternion::operator+(const quaternion& b) const
{
        return quaternion(X+b.X, Y+b.Y, Z+b.Z, W+b.W);
}

#ifndef IRR_TEST_BROKEN_QUATERNION_USE
// Creates a matrix from this quaternion
inline matrix4 quaternion::getMatrix() const
{
        core::matrix4 m;
        getMatrix(m);
        return m;
}
#endif

inline void quaternion::getMatrixFast( matrix4 &dest) const
{
        // TODO:
        // gpu quaternion skinning => fast Bones transform chain O_O YEAH!
        // http://www.mrelusive.com/publications/papers/SIMD-From-Quaternion-to-Matrix-and-Back.pdf
        dest[0] = 1.0f - 2.0f*Y*Y - 2.0f*Z*Z;
        dest[1] = 2.0f*X*Y + 2.0f*Z*W;
        dest[2] = 2.0f*X*Z - 2.0f*Y*W;
        dest[3] = 0.0f;

        dest[4] = 2.0f*X*Y - 2.0f*Z*W;
        dest[5] = 1.0f - 2.0f*X*X - 2.0f*Z*Z;
        dest[6] = 2.0f*Z*Y + 2.0f*X*W;
        dest[7] = 0.0f;

        dest[8] = 2.0f*X*Z + 2.0f*Y*W;
        dest[9] = 2.0f*Z*Y - 2.0f*X*W;
        dest[10] = 1.0f - 2.0f*X*X - 2.0f*Y*Y;
        dest[11] = 0.0f;

        dest[12] = 0.f;
        dest[13] = 0.f;
        dest[14] = 0.f;
        dest[15] = 1.f;

        dest.setDefinitelyIdentityMatrix(false);
}

inline void quaternion::getMatrix(matrix4 &dest,
                const core::vector3df &center) const
{
        // ok creating a copy may be slower, but at least avoid internal
        // state chance (also because otherwise we cannot keep this method "const").

        quaternion q( *this);
        q.normalize();
        f32 X = q.X;
        f32 Y = q.Y;
        f32 Z = q.Z;
        f32 W = q.W;

        dest[0] = 1.0f - 2.0f*Y*Y - 2.0f*Z*Z;
        dest[1] = 2.0f*X*Y + 2.0f*Z*W;
        dest[2] = 2.0f*X*Z - 2.0f*Y*W;
        dest[3] = 0.0f;

        dest[4] = 2.0f*X*Y - 2.0f*Z*W;
        dest[5] = 1.0f - 2.0f*X*X - 2.0f*Z*Z;
        dest[6] = 2.0f*Z*Y + 2.0f*X*W;
        dest[7] = 0.0f;

        dest[8] = 2.0f*X*Z + 2.0f*Y*W;
        dest[9] = 2.0f*Z*Y - 2.0f*X*W;
        dest[10] = 1.0f - 2.0f*X*X - 2.0f*Y*Y;
        dest[11] = 0.0f;

        dest[12] = center.X;
        dest[13] = center.Y;
        dest[14] = center.Z;
        dest[15] = 1.f;

        dest.setDefinitelyIdentityMatrix ( false );
}


inline void quaternion::getMatrixCenter(matrix4 &dest,
                                        const core::vector3df &center,
                                        const core::vector3df &translation) const
{
        quaternion q(*this);
        q.normalize();
        f32 X = q.X;
        f32 Y = q.Y;
        f32 Z = q.Z;
        f32 W = q.W;

        dest[0] = 1.0f - 2.0f*Y*Y - 2.0f*Z*Z;
        dest[1] = 2.0f*X*Y + 2.0f*Z*W;
        dest[2] = 2.0f*X*Z - 2.0f*Y*W;
        dest[3] = 0.0f;

        dest[4] = 2.0f*X*Y - 2.0f*Z*W;
        dest[5] = 1.0f - 2.0f*X*X - 2.0f*Z*Z;
        dest[6] = 2.0f*Z*Y + 2.0f*X*W;
        dest[7] = 0.0f;

        dest[8] = 2.0f*X*Z + 2.0f*Y*W;
        dest[9] = 2.0f*Z*Y - 2.0f*X*W;
        dest[10] = 1.0f - 2.0f*X*X - 2.0f*Y*Y;
        dest[11] = 0.0f;

        dest.setRotationCenter ( center, translation );
}

// Creates a matrix from this quaternion
inline void quaternion::getMatrix_transposed(matrix4 &dest) const
{
        quaternion q(*this);
        q.normalize();
        f32 X = q.X;
        f32 Y = q.Y;
        f32 Z = q.Z;
        f32 W = q.W;

        dest[0] = 1.0f - 2.0f*Y*Y - 2.0f*Z*Z;
        dest[4] = 2.0f*X*Y + 2.0f*Z*W;
        dest[8] = 2.0f*X*Z - 2.0f*Y*W;
        dest[12] = 0.0f;

        dest[1] = 2.0f*X*Y - 2.0f*Z*W;
        dest[5] = 1.0f - 2.0f*X*X - 2.0f*Z*Z;
        dest[9] = 2.0f*Z*Y + 2.0f*X*W;
        dest[13] = 0.0f;

        dest[2] = 2.0f*X*Z + 2.0f*Y*W;
        dest[6] = 2.0f*Z*Y - 2.0f*X*W;
        dest[10] = 1.0f - 2.0f*X*X - 2.0f*Y*Y;
        dest[14] = 0.0f;

        dest[3] = 0.f;
        dest[7] = 0.f;
        dest[11] = 0.f;
        dest[15] = 1.f;

        dest.setDefinitelyIdentityMatrix(false);
}


// Inverts this quaternion
inline quaternion& quaternion::makeInverse()
{
        X = -X; Y = -Y; Z = -Z;
        return *this;
}


// sets new quaternion
inline quaternion& quaternion::set(f32 x, f32 y, f32 z, f32 w)
{
        X = x;
        Y = y;
        Z = z;
        W = w;
        return *this;
}


// sets new quaternion based on Euler angles
inline quaternion& quaternion::set(f32 x, f32 y, f32 z)
{
        f64 angle;

        angle = x * 0.5;
        const f64 sr = sin(angle);
        const f64 cr = cos(angle);

        angle = y * 0.5;
        const f64 sp = sin(angle);
        const f64 cp = cos(angle);

        angle = z * 0.5;
        const f64 sy = sin(angle);
        const f64 cy = cos(angle);

        const f64 cpcy = cp * cy;
        const f64 spcy = sp * cy;
        const f64 cpsy = cp * sy;
        const f64 spsy = sp * sy;

        X = (f32)(sr * cpcy - cr * spsy);
        Y = (f32)(cr * spcy + sr * cpsy);
        Z = (f32)(cr * cpsy - sr * spcy);
        W = (f32)(cr * cpcy + sr * spsy);

        return normalize();
}

// sets new quaternion based on Euler angles
inline quaternion& quaternion::set(const core::vector3df& vec)
{
        return set( vec.X, vec.Y, vec.Z);
}

// sets new quaternion based on other quaternion
inline quaternion& quaternion::set(const core::quaternion& quat)
{
        return (*this=quat);
}


inline bool quaternion::equals(const quaternion& other, const f32 tolerance) const
{
        return core::equals( X, other.X, tolerance) &&
                core::equals( Y, other.Y, tolerance) &&
                core::equals( Z, other.Z, tolerance) &&
                core::equals( W, other.W, tolerance);
}


// normalizes the quaternion
inline quaternion& quaternion::normalize()
{
        // removed conditional branch since it may slow down and anyway the condition was
        // false even after normalization in some cases.
        return (*this *= (f32)reciprocal_squareroot ( (f64)(X*X + Y*Y + Z*Z + W*W) ));
}

// Set this quaternion to the result of the linear interpolation between two quaternions
inline quaternion& quaternion::lerp( quaternion q1, quaternion q2, f32 time)
{
        const f32 scale = 1.0f - time;
        return (*this = (q1*scale) + (q2*time));
}

// Set this quaternion to the result of the linear interpolation between two quaternions and normalize the result
inline quaternion& quaternion::lerpN( quaternion q1, quaternion q2, f32 time)
{
        const f32 scale = 1.0f - time;
        return (*this = ((q1*scale) + (q2*time)).normalize() );
}

// set this quaternion to the result of the interpolation between two quaternions
inline quaternion& quaternion::slerp( quaternion q1, quaternion q2, f32 time, f32 threshold)
{
        f32 angle = q1.dotProduct(q2);

        // make sure we use the short rotation
        if (angle < 0.0f)
        {
                q1 *= -1.0f;
                angle *= -1.0f;
        }

        if (angle <= (1-threshold)) // spherical interpolation
        {
                const f32 theta = acosf(angle);
                const f32 invsintheta = reciprocal(sinf(theta));
                const f32 scale = sinf(theta * (1.0f-time)) * invsintheta;
                const f32 invscale = sinf(theta * time) * invsintheta;
                return (*this = (q1*scale) + (q2*invscale));
        }
        else // linear interpolation
                return lerpN(q1,q2,time);
}


// calculates the dot product
inline f32 quaternion::dotProduct(const quaternion& q2) const
{
        return (X * q2.X) + (Y * q2.Y) + (Z * q2.Z) + (W * q2.W);
}


inline quaternion& quaternion::fromAngleAxis(f32 angle, const vector3df& axis)
{
        const f32 fHalfAngle = 0.5f*angle;
        const f32 fSin = sinf(fHalfAngle);
        W = cosf(fHalfAngle);
        X = fSin*axis.X;
        Y = fSin*axis.Y;
        Z = fSin*axis.Z;
        return *this;
}


inline void quaternion::toAngleAxis(f32 &angle, core::vector3df &axis) const
{
        const f32 scale = sqrtf(X*X + Y*Y + Z*Z);

        if (core::iszero(scale) || W > 1.0f || W < -1.0f)
        {
                angle = 0.0f;
                axis.X = 0.0f;
                axis.Y = 1.0f;
                axis.Z = 0.0f;
        }
        else
        {
                const f32 invscale = reciprocal(scale);
                angle = 2.0f * acosf(W);
                axis.X = X * invscale;
                axis.Y = Y * invscale;
                axis.Z = Z * invscale;
        }
}

inline void quaternion::toEuler(vector3df& euler) const
{
        const f64 sqw = W*W;
        const f64 sqx = X*X;
        const f64 sqy = Y*Y;
        const f64 sqz = Z*Z;
        const f64 test = 2.0 * (Y*W - X*Z);

        if (core::equals(test, 1.0, 0.000001))
        {
                // heading = rotation about z-axis
                euler.Z = (f32) (-2.0*atan2(X, W));
                // bank = rotation about x-axis
                euler.X = 0;
                // attitude = rotation about y-axis
                euler.Y = (f32) (core::PI64/2.0);
        }
        else if (core::equals(test, -1.0, 0.000001))
        {
                // heading = rotation about z-axis
                euler.Z = (f32) (2.0*atan2(X, W));
                // bank = rotation about x-axis
                euler.X = 0;
                // attitude = rotation about y-axis
                euler.Y = (f32) (core::PI64/-2.0);
        }
        else
        {
                // heading = rotation about z-axis
                euler.Z = (f32) atan2(2.0 * (X*Y +Z*W),(sqx - sqy - sqz + sqw));
                // bank = rotation about x-axis
                euler.X = (f32) atan2(2.0 * (Y*Z +X*W),(-sqx - sqy + sqz + sqw));
                // attitude = rotation about y-axis
                euler.Y = (f32) asin( clamp(test, -1.0, 1.0) );
        }
}


inline vector3df quaternion::operator* (const vector3df& v) const
{
        // nVidia SDK implementation

        vector3df uv, uuv;
        const vector3df qvec(X, Y, Z);
        uv = qvec.crossProduct(v);
        uuv = qvec.crossProduct(uv);
        uv *= (2.0f * W);
        uuv *= 2.0f;

        return v + uv + uuv;
}

// set quaternion to identity
inline core::quaternion& quaternion::makeIdentity()
{
        W = 1.f;
        X = 0.f;
        Y = 0.f;
        Z = 0.f;
        return *this;
}

inline core::quaternion& quaternion::rotationFromTo(const vector3df& from, const vector3df& to)
{
        // Based on Stan Melax's article in Game Programming Gems
        // Copy, since cannot modify local
        vector3df v0 = from;
        vector3df v1 = to;
        v0.normalize();
        v1.normalize();

        const f32 d = v0.dotProduct(v1);
        if (d >= 1.0f) // If dot == 1, vectors are the same
        {
                return makeIdentity();
        }
        else if (d <= -1.0f) // exactly opposite
        {
                core::vector3df axis(1.0f, 0.f, 0.f);
                axis = axis.crossProduct(v0);
                if (axis.getLength()==0)
                {
                        axis.set(0.f,1.f,0.f);
                        axis = axis.crossProduct(v0);
                }
                // same as fromAngleAxis(core::PI, axis).normalize();
                return set(axis.X, axis.Y, axis.Z, 0).normalize();
        }

        const f32 s = sqrtf( (1+d)*2 ); // optimize inv_sqrt
        const f32 invs = 1.f / s;
        const vector3df c = v0.crossProduct(v1)*invs;
        return set(c.X, c.Y, c.Z, s * 0.5f).normalize();
}


} // end namespace core
} // end namespace irr

#endif