From b18b44bbf8e3153c733df8218886aec3cf4fb350 Mon Sep 17 00:00:00 2001 From: Thompson Lee Date: Sun, 7 Aug 2016 08:17:48 -0400 Subject: [PATCH] Passing matrix by reference. --- include/c3d/maths.h | 2 +- source/maths/quat_frommtx.c | 38 ++++++++++++++++++------------------- 2 files changed, 20 insertions(+), 20 deletions(-) diff --git a/include/c3d/maths.h b/include/c3d/maths.h index 76e3bdd..bfccae6 100644 --- a/include/c3d/maths.h +++ b/include/c3d/maths.h @@ -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 diff --git a/source/maths/quat_frommtx.c b/source/maths/quat_frommtx.c index f9ae941..b1981f3 100644 --- a/source/maths/quat_frommtx.c +++ b/source/maths/quat_frommtx.c @@ -1,6 +1,6 @@ #include -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; } }