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quatf.cpp
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//
// Copyright 2016 Pixar
//
// Licensed under the Apache License, Version 2.0 (the "Apache License")
// with the following modification; you may not use this file except in
// compliance with the Apache License and the following modification to it:
// Section 6. Trademarks. is deleted and replaced with:
//
// 6. Trademarks. This License does not grant permission to use the trade
// names, trademarks, service marks, or product names of the Licensor
// and its affiliates, except as required to comply with Section 4(c) of
// the License and to reproduce the content of the NOTICE file.
//
// You may obtain a copy of the Apache License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the Apache License with the above modification is
// distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY
// KIND, either express or implied. See the Apache License for the specific
// language governing permissions and limitations under the Apache License.
//
////////////////////////////////////////////////////////////////////////
// This file is generated by a script. Do not edit directly. Edit the
// quat.template.cpp file to make changes.
#include "pxr/pxr.h"
#include "pxr/base/gf/quatf.h"
#include "pxr/base/gf/ostreamHelpers.h"
#include "pxr/base/gf/vec4f.h"
#include "pxr/base/tf/type.h"
#include "pxr/base/gf/quatd.h"
#include "pxr/base/gf/quath.h"
PXR_NAMESPACE_OPEN_SCOPE
TF_REGISTRY_FUNCTION(TfType) {
TfType::Define<GfQuatf>();
}
GfQuatf::GfQuatf(GfQuatd const &other)
: _imaginary(other.GetImaginary())
, _real(other.GetReal())
{
}
GfQuatf::GfQuatf(GfQuath const &other)
: _imaginary(other.GetImaginary())
, _real(other.GetReal())
{
}
std::ostream&
operator<<(std::ostream &out, GfQuatf const &q)
{
GfVec3f i = q.GetImaginary();
float real = q.GetReal();
return out << GfVec4f(real, i[0], i[1], i[2]);
}
float
GfQuatf::Normalize(float eps)
{
float length = GetLength();
if (length < eps)
*this = GetIdentity();
else
*this /= length;
return length;
}
GfQuatf &
GfQuatf::operator *=(const GfQuatf &q)
{
float r1 = GetReal();
float r2 = q.GetReal();
const GfVec3f &i1 = GetImaginary();
const GfVec3f &i2 = q.GetImaginary();
float r = r1 * r2 - GfDot(i1, i2);
GfVec3f i(
r1 * i2[0] + r2 * i1[0] + (i1[1] * i2[2] - i1[2] * i2[1]),
r1 * i2[1] + r2 * i1[1] + (i1[2] * i2[0] - i1[0] * i2[2]),
r1 * i2[2] + r2 * i1[2] + (i1[0] * i2[1] - i1[1] * i2[0]));
SetReal(r);
SetImaginary(i);
return *this;
}
GfQuatf
GfSlerp(const GfQuatf& q0, const GfQuatf& q1, double alpha)
{
return GfSlerp(alpha, q0, q1);
}
GfQuatf
GfSlerp(double alpha, const GfQuatf& q0, const GfQuatf& q1)
{
double cosTheta = q0.GetImaginary() * q1.GetImaginary() +
q0.GetReal() * q1.GetReal();
bool flip1 = false;
if (cosTheta < 0.0) {
cosTheta = -cosTheta;
flip1 = true;
}
double scale0, scale1;
if (1.0 - cosTheta > 0.00001 ) {
// standard case
float theta = acos(cosTheta),
sinTheta = sin(theta);
scale0 = sin((1.0 - alpha) * theta) / sinTheta;
scale1 = sin(alpha * theta) / sinTheta;
} else {
// rot0 and rot1 very close - just do linear interp and renormalize.
scale0 = 1.0 - alpha;
scale1 = alpha;
}
if (flip1)
scale1 = -scale1;
return scale0 * q0 + scale1 * q1;
}
PXR_NAMESPACE_CLOSE_SCOPE