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Passing matrix by reference.

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This commit is contained in:
Thompson Lee 2016-08-07 08:17:48 -04:00
parent 2efedfe8d2
commit b18b44bbf8
2 changed files with 20 additions and 20 deletions
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2
include/c3d/maths.h
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@ -627,7 +627,7 @@ void Mtx_FromQuat(C3D_Mtx* m, C3D_FQuat q);
* @param[in] m Input Matrix
* @return Generated Quaternion
*/
C3D_FQuat Quat_FromMtx(C3D_Mtx m);
C3D_FQuat Quat_FromMtx(C3D_Mtx* m);
/**
* @brief Identity Quaternion

38
source/maths/quat_frommtx.c
View File

@ -1,6 +1,6 @@
#include <c3d/maths.h>
C3D_FQuat Quat_FromMtx(C3D_Mtx m)
C3D_FQuat Quat_FromMtx(C3D_Mtx* m)
{
//Taken from Gamasutra:
//http://www.gamasutra.com/view/feature/131686/rotating_objects_using_quaternions.php
@ -12,42 +12,42 @@ C3D_FQuat Quat_FromMtx(C3D_Mtx m)
C3D_FQuat q;
//Check the main diagonal of the passed-in matrix for positive/negative signs.
trace = m.r[0].c[0] + m.r[1].c[1] + m.r[2].c[2];
trace = m->r[0].c[0] + m->r[1].c[1] + m->r[2].c[2];
if (trace > 0.0f)
{
//Diagonal is positive.
sqrtTrace = sqrtf(trace + 1.0f);
q.w = sqrtTrace / 2.0f;
sqrtTrace = 0.5 / sqrtTrace;
q.x = (m.r[1].c[2] - m.r[2].c[1]) * sqrtTrace;
q.y = (m.r[2].c[0] - m.r[0].c[2]) * sqrtTrace;
q.z = (m.r[0].c[1] - m.r[1].c[0]) * sqrtTrace;
q.x = (m->r[1].c[2] - m->r[2].c[1]) * sqrtTrace;
q.y = (m->r[2].c[0] - m->r[0].c[2]) * sqrtTrace;
q.z = (m->r[0].c[1] - m->r[1].c[0]) * sqrtTrace;
}
else
{
//Diagonal is negative or equals to zero. We need to identify which major diagonal element has the greatest value.
if (m.r[0].c[0] > m.r[1].c[1] && m.r[0].c[0] > m.r[2].c[2])
if (m->r[0].c[0] > m->r[1].c[1] && m->r[0].c[0] > m->r[2].c[2])
{
sqrtTrace = 2.0f * sqrtf(1.0f + m.r[0].c[0] - m.r[1].c[1] - m.r[2].c[2]);
q.w = (m.r[2].c[1] - m.r[1].c[2]) / sqrtTrace;
sqrtTrace = 2.0f * sqrtf(1.0f + m->r[0].c[0] - m->r[1].c[1] - m->r[2].c[2]);
q.w = (m->r[2].c[1] - m->r[1].c[2]) / sqrtTrace;
q.x = 0.25f * sqrtTrace;
q.y = (m.r[0].c[1] - m.r[1].c[0]) / sqrtTrace;
q.z = (m.r[0].c[2] - m.r[2].c[0]) / sqrtTrace;
q.y = (m->r[0].c[1] - m->r[1].c[0]) / sqrtTrace;
q.z = (m->r[0].c[2] - m->r[2].c[0]) / sqrtTrace;
}
else if (m.r[1].c[1] > m.r[2].c[2])
else if (m->r[1].c[1] > m->r[2].c[2])
{
sqrtTrace = 2.0f * sqrtf(1.0f + m.r[1].c[1] - m.r[0].c[0] - m.r[2].c[2]);
q.w = (m.r[0].c[2] - m.r[2].c[0]) / sqrtTrace;
q.x = (m.r[0].c[1] - m.r[1].c[0]) / sqrtTrace;
sqrtTrace = 2.0f * sqrtf(1.0f + m->r[1].c[1] - m->r[0].c[0] - m->r[2].c[2]);
q.w = (m->r[0].c[2] - m->r[2].c[0]) / sqrtTrace;
q.x = (m->r[0].c[1] - m->r[1].c[0]) / sqrtTrace;
q.y = 0.25f * sqrtTrace;
q.z = (m.r[1].c[2] - m.r[2].c[1]) / sqrtTrace;
q.z = (m->r[1].c[2] - m->r[2].c[1]) / sqrtTrace;
}
else
{
sqrtTrace = 2.0f * sqrtf(1.0f + m.r[2].c[2] - m.r[0].c[0] - m.r[1].c[1]);
q.w = (m.r[1].c[0] - m.r[0].c[1]) / sqrtTrace;
q.x = (m.r[0].c[2] - m.r[2].c[0]) / sqrtTrace;
q.y = (m.r[1].c[2] - m.r[2].c[1]) / sqrtTrace;
sqrtTrace = 2.0f * sqrtf(1.0f + m->r[2].c[2] - m->r[0].c[0] - m->r[1].c[1]);
q.w = (m->r[1].c[0] - m->r[0].c[1]) / sqrtTrace;
q.x = (m->r[0].c[2] - m->r[2].c[0]) / sqrtTrace;
q.y = (m->r[1].c[2] - m->r[2].c[1]) / sqrtTrace;
q.z = 0.25f * sqrtTrace;
}
}