2019-05-18 10:39:39 +00:00
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/*
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* Data Structures for Slerps/Spherical Linear Interpolations
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* See also GemsIII/quatspin.c in
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* http://www.acm.org/pubs/tog/GraphicsGems/gemsiii.zip
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* Copyright (c) Criterion Software Limited
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*/
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/***************************************************************************
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* *
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* Module : rtslerp.h *
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* *
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* Purpose : Slerp functionality *
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* *
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**************************************************************************/
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#ifndef RTSLERP_H
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#define RTSLERP_H
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/**
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* \defgroup rtslerp RtSlerp
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2020-07-18 10:30:51 +00:00
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* \ingroup mathtools
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2019-05-18 10:39:39 +00:00
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*
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* Slerp/Spherical Linear Interpolations Toolkit for RenderWare.
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*
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* See also http://www.cis.ohio-state.edu/~parent/book/Full.html
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*/
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#include "rwcore.h"
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#include "rtquat.h"
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/****************************************************************************
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Includes
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*/
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#include "rtslerp.rpe" /* automatically generated header file */
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/****************************************************************************
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Defines
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*/
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/* Masks for specifying which matrices to store by reference */
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#define rtSLERPREFNONE 0x00
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#define rtSLERPREFSTARTMAT 0x01
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#define rtSLERPREFENDMAT 0x02
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#define rtSLERPREFALL (~rtSLERPREFNONE)
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/****************************************************************************
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Global Types
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*/
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typedef struct RtSlerp RtSlerp;
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/**
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* \ingroup rtslerp
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* \struct RtSlerp
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* structure describing a Slerps/Spherical Linear Interpolations.
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* See also GemsIII/quatspin.c in
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* http://www.acm.org/pubs/tog/GraphicsGems/gemsiii.zip
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*/
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struct RtSlerp
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{
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RwInt32 matRefMask; /**< Which matrices do we NOT own */
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RwMatrix *startMat; /**< The start matrix */
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RwMatrix *endMat; /**< The end matrix */
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RwV3d axis; /**< The axis of rotation for the slerp */
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RwReal angle; /**< The angle (in degrees) between src & dest */
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/* Though a slerp may be a bad idea and opting for a lerp is better */
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RwBool useLerp; /**< Do we want to use lerps? */
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};
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/* static frame sequence animation - contains no state */
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typedef struct RtQuatSlerpCache RtQuatSlerpCache;
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/**
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* \ingroup rtslerp
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* \struct RtQuatSlerpCache
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* structure describing a SlerpCache,
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* which should be initialized with \ref RtQuatSetupSlerpCache.
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*/
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struct RtQuatSlerpCache
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{
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RtQuat raFrom; /**< Scaled initial quaternion */
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RtQuat raTo; /**< Scaled final quaternion */
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RwReal omega; /**< Angular displacement in radians */
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RwBool nearlyZeroOm; /**< Flags near-zero angular
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displacement*/
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};
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typedef struct RtQuatSlerpArgandCache RtQuatSlerpArgandCache;
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/**
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* \ingroup rtslerp
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* \struct RtQuatSlerpArgandCache
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* a structure describing
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* an Argand SlerpCache which should be
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* initialized with \ref RtQuatSetupSlerpArgandCache.
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* See http://www-groups.dcs.st-and.ac.uk/~history/Mathematicians/Argand.html
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* Jean Argand was an accountant and amateur mathematician.
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* He is famed for his geometrical interpretation of the complex numbers
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* where i is interpreted as a rotation through 90.
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*/
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struct RtQuatSlerpArgandCache
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{
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RtQuat logTo; /**< field Logarithm of final quaternion */
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RtQuat logBase; /**< Logarithm of initial relative to final quaternion */
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};
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#define RtQuatSlerpMacro(qpResult, qpFrom, qpTo, rT, sCache) \
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MACRO_START \
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{ \
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if ((rT) <= ((RwReal) 0)) \
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{ \
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/* t is before start */ \
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*(qpResult) = *(qpFrom); \
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} \
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else if (((RwReal) 1) <= (rT)) \
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{ \
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\
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/* t is after end */ \
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*(qpResult) = *(qpTo); \
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} \
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else \
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{ \
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/* ... so t must be in the interior then */ \
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/* Calc coefficients rSclFrom, rSclTo */ \
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RwReal rSclFrom = ((RwReal) 1) - (rT); \
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RwReal rSclTo = (rT); \
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\
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if (!((sCache)->nearlyZeroOm)) \
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{ \
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/* Standard case: slerp */ \
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/* SLERPMESSAGE(("Neither nearly ZERO nor nearly PI")); */ \
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\
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rSclFrom *= (sCache)->omega; \
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RwSinMinusPiToPiMacro(rSclFrom, rSclFrom); \
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rSclTo *= (sCache)->omega; \
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RwSinMinusPiToPiMacro(rSclTo, rSclTo); \
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} \
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\
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/* Calc final values */ \
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RwV3dScaleMacro(&(qpResult)->imag, \
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&(sCache)->raFrom.imag, rSclFrom); \
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RwV3dIncrementScaledMacro(&(qpResult)->imag, \
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&(sCache)->raTo.imag, rSclTo); \
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(qpResult)->real = \
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((sCache)->raFrom.real * rSclFrom) + \
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((sCache)->raTo.real * rSclTo); \
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} \
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} \
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MACRO_STOP
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#define RtQuatSlerpArgandMacro(qpResult, qpFrom, qpTo, rT, sArgandCache) \
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MACRO_START \
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{ \
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if ((rT) <= ((RwReal) 0)) \
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{ \
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/* t is before start */ \
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*(qpResult) = *(qpFrom); \
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} \
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else if (((RwReal) 1) <= (rT)) \
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{ \
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/* t is after end */ \
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*(qpResult) = *(qpTo); \
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} \
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else \
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{ \
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RtQuat logBlend; \
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\
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/* ... so t must be in the interior then */ \
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\
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logBlend.imag.x = \
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(sArgandCache)->logBase.imag.x + \
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(rT) * (sArgandCache)->logTo.imag.x; \
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logBlend.imag.y = \
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(sArgandCache)->logBase.imag.y + \
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(rT) * (sArgandCache)->logTo.imag.y; \
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logBlend.imag.z = \
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(sArgandCache)->logBase.imag.z + \
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(rT) * (sArgandCache)->logTo.imag.z; \
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logBlend.real = 0; \
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\
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RtQuatUnitExpMacro((qpResult), &logBlend); \
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\
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} \
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} \
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MACRO_STOP
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#if (! ( defined(RWDEBUG) || defined(RWSUPPRESSINLINE) ))
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#define RtQuatSlerp(qpResult, qpFrom, qpTo, rT, sCache) \
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RtQuatSlerpMacro(qpResult, qpFrom, qpTo, rT, sCache)
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#define RtQuatSlerpArgand(qpResult, qpFrom, qpTo, rT, sArgandCache) \
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RtQuatSlerpArgandMacro(qpResult, qpFrom, qpTo, rT, sArgandCache)
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#endif /* (! ( defined(RWDEBUG) || defined(RWSUPPRESSINLINE) )) */
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/****************************************************************************
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Function prototypes
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*/
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#ifdef __cplusplus
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extern "C"
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{
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#endif /* __cplusplus */
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/* Creating and destroying slerps */
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extern RtSlerp *RtSlerpCreate(RwInt32 nMatRefMask);
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extern void RtSlerpDestroy(RtSlerp * spSlerp);
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/* setting up a slerp */
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extern RtSlerp *RtSlerpInitialize(RtSlerp * spSlerp,
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RwMatrix * mpMat1,
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RwMatrix * mpMat2);
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/* Get a matrix */
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extern RwMatrix *RtSlerpGetMatrix(RtSlerp * spSlerp,
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RwMatrix * mpResultMat,
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RwReal nDelta);
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/* Set if lerp or slerp */
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extern RtSlerp *RtSlerpSetLerp(RtSlerp * spSlerp,
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RwBool bUseLerp);
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extern void
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RtQuatSetupSlerpCache(RtQuat * qpFrom,
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RtQuat * qpTo,
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RtQuatSlerpCache * sCache);
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extern void
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RtQuatSetupSlerpArgandCache(RtQuat * qpFrom,
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RtQuat * qpTo,
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RtQuatSlerpArgandCache * sArgandCache);
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#if ( defined(RWDEBUG) || defined(RWSUPPRESSINLINE) )
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extern void
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RtQuatSlerp(RtQuat * qpResult,
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RtQuat * qpFrom,
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RtQuat * qpTo,
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RwReal rT,
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RtQuatSlerpCache * sCache);
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extern void
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RtQuatSlerpArgand(RtQuat * qpResult,
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RtQuat * qpFrom,
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RtQuat * qpTo,
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RwReal rT,
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RtQuatSlerpArgandCache * sArgandCache);
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#endif /* ( defined(RWDEBUG) || defined(RWSUPPRESSINLINE) ) */
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#ifdef __cplusplus
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}
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#endif /* __cplusplus */
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#endif /* RTSLERP_H */
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