From 7b5a7a7af9ca7b32cd9f3ca27a0965550ca89254 Mon Sep 17 00:00:00 2001
From: "matthias.ringwald"
<matthias.ringwald@1a0a8af8-31b5-11de-8e0c-53a27eea117e>
Date: Sun, 13 Jun 2010 21:50:49 +0000
Subject: [PATCH] reordered and fixed compile errors
---
example/WiiMoteOpenGLDemo/rotation.c | 89 +++++++++++++---------------
1 file changed, 42 insertions(+), 47 deletions(-)
diff --git a/example/WiiMoteOpenGLDemo/rotation.c b/example/WiiMoteOpenGLDemo/rotation.c
index d664053f5..f2108dfec 100644
--- a/example/WiiMoteOpenGLDemo/rotation.c
+++ b/example/WiiMoteOpenGLDemo/rotation.c
@@ -128,49 +128,6 @@ void getRotationMatrixFromQuartenion(float q[4], float m[4][4]){
}
-void getRotationMatrixFromVectors(float vin[3], float vout[3], float matrix[4][4]){
- normalizeVector(vout,3);
-
- float q[4] = {0,0,0,0};
-
- float vin_length = 0;
- float vout_length = 0;
- float dotprod = 0;
-
- int i;
- for (i=0; i<3; i++){
- vin_length += vin[i]*vin[i];
- vout_length+= vout[i]*vout[i];
- dotprod += vin[i]*vout[i];
- }
-
-#if 1 //mila
- q[0] = sqrt(vin_length * vout_length) + dotprod;
- q[1] = -1*(vin[1]*vout[2] - vin[2]*vout[1]);
- q[2] = -1*(vin[2]*vout[0] - vin[0]*vout[2]);
- q[3] = -1*(vin[0]*vout[1] - vin[1]*vout[0]);
-#else
- float axis[3] = {0,0,0};
- axis[0] = -1*(vin[1]*vout[2] - vin[2]*vout[1]);
- axis[1] = -1*(vin[2]*vout[0] - vin[0]*vout[2]);
- axis[2] = -1*(vin[0]*vout[1] - vin[1]*vout[0]);
- normalizeVector(axis,3);
-
- float angle = acos(vin[0]*vout[0]+vin[1]*vout[1]+vin[2]*vout[2]);
- quaternionFromAxis(angle, axis, q);
-#endif
-
-
- float v0[4] = {0, vin[0], vin[1], vin[2]};
- float v1[4] = {0, vout[0], vout[1], vout[2]};
- slerp(v0, v1, 0.5, q);
-
-
- normalizeVector(q,4);
- getRotationMatrixFromQuartenion(q,matrix);
-
-}
-
float getRotationAngle(float matrix[4][4]){
return acos( (matrix[0][0]+matrix[1][1]+matrix[2][2]-1) * 0.5);
}
@@ -191,10 +148,10 @@ void slerp(float v0[4], float v1[4], double t, float result[4]) {
// If the inputs are too close for comfort, linearly interpolate
// and normalize the result.
for (i=0; i<4; i++){
- result[i] = v0[i] + t*(v1[i] � v0[i]);
+ result[i] = v0[i] + t*(v1[i] - v0[i]);
}
normalizeVector(result,4);
- return result;
+ return;
}
if (dot<-1) dot = -1;
@@ -204,14 +161,52 @@ void slerp(float v0[4], float v1[4], double t, float result[4]) {
float v2[4] = {0,0,0,0};
for (i=0; i<4; i++){
- v2[i] = v1[i] � v0[i]*dot;
+ v2[i] = v1[i] - v0[i]*dot;
}
normalizeVector(v2,4); // { v0, v2 } is now an orthonormal basis
for (i=0; i<4; i++){
result[i] = v0[i]*cos(theta) + v2[i]*sin(theta);
}
- return result;
+ return;
+}
+
+
+
+void getRotationMatrixFromVectors(float vin[3], float vout[3], float matrix[4][4]){
+ normalizeVector(vout,3);
+
+ float q[4] = {0,0,0,0};
+
+ float vin_length = 0;
+ float vout_length = 0;
+ float dotprod = 0;
+
+ int i;
+ for (i=0; i<3; i++){
+ vin_length += vin[i]*vin[i];
+ vout_length+= vout[i]*vout[i];
+ dotprod += vin[i]*vout[i];
+ }
+
+#if 1 //mila
+ q[0] = sqrt(vin_length * vout_length) + dotprod;
+ q[1] = -1*(vin[1]*vout[2] - vin[2]*vout[1]);
+ q[2] = -1*(vin[2]*vout[0] - vin[0]*vout[2]);
+ q[3] = -1*(vin[0]*vout[1] - vin[1]*vout[0]);
+#else
+ float axis[3] = {0,0,0};
+ axis[0] = -1*(vin[1]*vout[2] - vin[2]*vout[1]);
+ axis[1] = -1*(vin[2]*vout[0] - vin[0]*vout[2]);
+ axis[2] = -1*(vin[0]*vout[1] - vin[1]*vout[0]);
+ normalizeVector(axis,3);
+
+ float angle = acos(vin[0]*vout[0]+vin[1]*vout[1]+vin[2]*vout[2]);
+ quaternionFromAxis(angle, axis, q);
+#endif
+
+ normalizeVector(q,4);
+ getRotationMatrixFromQuartenion(q,matrix);
}
#if 0