Initial commit.

codemp/Splines/math_quaternion.cpp

@@ -0,0 +1,57 @@
+#include "math_quaternion.h"
+#include "math_matrix.h"
+
+void toQuat( idVec3_t &src, quat_t &dst ) {
+	dst.x = src.x;
+	dst.y = src.y;
+	dst.z = src.z;
+	dst.w = 0.0f;
+}
+
+void toQuat( angles_t &src, quat_t &dst ) {
+	mat3_t temp;
+
+	toMatrix( src, temp );
+	toQuat( temp, dst );
+}
+
+void toQuat( mat3_t &src, quat_t &dst ) {
+	float		trace;
+	float		s;
+	int     	i;
+	int			j;
+	int			k;
+
+	static int 	next[ 3 ] = { 1, 2, 0 };
+
+	trace = src[ 0 ][ 0 ] + src[ 1 ][ 1 ] + src[ 2 ][ 2 ];
+	if ( trace > 0.0f ) {
+		s = ( float )sqrt( trace + 1.0f );
+		dst.w = s * 0.5f;
+		s = 0.5f / s;
+    
+		dst.x = ( src[ 2 ][ 1 ] - src[ 1 ][ 2 ] ) * s;
+		dst.y = ( src[ 0 ][ 2 ] - src[ 2 ][ 0 ] ) * s;
+		dst.z = ( src[ 1 ][ 0 ] - src[ 0 ][ 1 ] ) * s;
+	} else {
+		i = 0;
+		if ( src[ 1 ][ 1 ] > src[ 0 ][ 0 ] ) {
+			i = 1;
+		}
+		if ( src[ 2 ][ 2 ] > src[ i ][ i ] ) {
+			i = 2;
+		}
+
+		j = next[ i ];  
+		k = next[ j ];
+    
+		s = ( float )sqrt( ( src[ i ][ i ] - ( src[ j ][ j ] + src[ k ][ k ] ) ) + 1.0f );
+		dst[ i ] = s * 0.5f;
+    
+		s = 0.5f / s;
+    
+		dst.w		= ( src[ k ][ j ] - src[ j ][ k ] ) * s;
+		dst[ j ]	= ( src[ j ][ i ] + src[ i ][ j ] ) * s;
+		dst[ k ]	= ( src[ k ][ i ] + src[ i ][ k ] ) * s;
+	}
+}