do ass1submission-p1.0

1 files changed, 260 insertions, 260 deletions

diff --git a/dev/MinGfx/src/quaternion.cc b/dev/MinGfx/src/quaternion.cc
index 4f2998f..7551c62 100644
--- a/dev/MinGfx/src/quaternion.cc
+++ b/dev/MinGfx/src/quaternion.cc
@@ -1,260 +1,260 @@
-/*
-Copyright (c) 2017,2018 Regents of the University of Minnesota.
-All Rights Reserved.
-See corresponding header file for details.
-*/
-
-#define _USE_MATH_DEFINES
-#include "quaternion.h"
-
-#include "gfxmath.h"
-
-namespace mingfx {
-
-
-Quaternion::Quaternion() {
-    q[0] = 0.0;
-    q[1] = 0.0;
-    q[2] = 0.0;
-    q[3] = 1.0;
-}
-
-Quaternion::Quaternion(float qx, float qy, float qz, float qw) {
-    q[0] = qx;
-    q[1] = qy;
-    q[2] = qz;
-    q[3] = qw;
-}
-
-Quaternion::Quaternion(float *ptr) {
-    q[0] = ptr[0];
-    q[1] = ptr[1];
-    q[2] = ptr[2];
-    q[3] = ptr[3];
-}
-
-Quaternion::Quaternion(const Quaternion& other) {
-    q[0] = other[0];
-    q[1] = other[1];
-    q[2] = other[2];
-    q[3] = other[3];
-}
-
-Quaternion::~Quaternion() {
-}
-
-bool Quaternion::operator==(const Quaternion& other) const {
-    return (fabs(other[0] - q[0]) < MINGFX_MATH_EPSILON &&
-            fabs(other[1] - q[1]) < MINGFX_MATH_EPSILON &&
-            fabs(other[2] - q[2]) < MINGFX_MATH_EPSILON &&
-            fabs(other[3] - q[3]) < MINGFX_MATH_EPSILON);
-}
-
-bool Quaternion::operator!=(const Quaternion& other) const {
-    return (fabs(other[0] - q[0]) >= MINGFX_MATH_EPSILON ||
-            fabs(other[1] - q[1]) >= MINGFX_MATH_EPSILON ||
-            fabs(other[2] - q[2]) >= MINGFX_MATH_EPSILON ||
-            fabs(other[3] - q[3]) >= MINGFX_MATH_EPSILON);
-}
-
-Quaternion& Quaternion::operator=(const Quaternion& other) {
-    q[0] = other[0];
-    q[1] = other[1];
-    q[2] = other[2];
-    q[3] = other[3];
-    return *this;
-}
-
-float Quaternion::operator[](const int i) const {
-    if ((i>=0) && (i<=3)) {
-        return q[i];
-    }
-    else {
-        // this is an error!
-        return 0.0;
-    }
-}
-
-float& Quaternion::operator[](const int i) {
-    return q[i];
-}
-
-
-const float * Quaternion::value_ptr() const {
-    return q;
-}
-
-Quaternion Quaternion::Slerp(const Quaternion &other, float alpha) const {
-    // https://en.wikipedia.org/wiki/Slerp
-    
-    Quaternion v0 = *this;
-    Quaternion v1 = other;
-    
-    // Only unit quaternions are valid rotations.
-    // Normalize to avoid undefined behavior.
-    v0.Normalize();
-    v1.Normalize();
-    
-    // Compute the cosine of the angle between the two vectors.
-    float dot = v0.Dot(v1);
-    
-    // If the dot product is negative, the quaternions
-    // have opposite handed-ness and slerp won't take
-    // the shorter path. Fix by reversing one quaternion.
-    if (dot < 0.0f) {
-        v1 = -v1;
-        dot = -dot;
-    }
-    
-    const double DOT_THRESHOLD = 0.9995;
-    if (dot > DOT_THRESHOLD) {
-        // If the inputs are too close for comfort, linearly interpolate
-        // and normalize the result.
-        
-        Quaternion result = v0 + alpha*(v1 - v0);
-        result.Normalize();
-        return result;
-    }
-    
-    GfxMath::Clamp(dot, -1, 1);        // Robustness: Stay within domain of acos()
-    float theta_0 = acos(dot);        // theta_0 = angle between input vectors
-    float theta = theta_0 * alpha;    // theta = angle between v0 and result
-    
-    float s0 = cos(theta) - dot * sin(theta) / sin(theta_0);  // == sin(theta_0 - theta) / sin(theta_0)
-    float s1 = sin(theta) / sin(theta_0);
-    
-    return (s0 * v0) + (s1 * v1);
-}
-
-Quaternion Quaternion::Slerp(const Quaternion &a, const Quaternion &b, float alpha) {
-    return a.Slerp(b, alpha);
-}
-
-
-std::ostream & operator<< ( std::ostream &os, const Quaternion &q) {
-    return os << "<" << q[0] << ", " << q[1] << ", " << q[2] << ", " << q[3] << ")";
-}
-
-std::istream & operator>> ( std::istream &is, Quaternion &q) {
-    // format:  <qx, qy, qz, qw>
-    char dummy;
-    return is >> dummy >> q[0] >> dummy >> q[1] >> dummy >> q[2] >> dummy >> q[3] >> dummy;
-}
-
-
-float Quaternion::Dot(const Quaternion& other) const {
-    return q[0]*other[0] + q[1]*other[1] + q[2]*other[2] + q[3]*other[3];
-
-}
-
-float Quaternion::Length() const {
-    return sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
-}
-
-void Quaternion::Normalize() {
-    float sizeSq =  + q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];
-    if (sizeSq < MINGFX_MATH_EPSILON) {
-        return; // do nothing to zero quats
-    }
-    float scaleFactor = (float)1.0/(float)sqrt(sizeSq);
-    q[0] *= scaleFactor;
-    q[1] *= scaleFactor;
-    q[2] *= scaleFactor;
-    q[3] *= scaleFactor;
-}
-
-Quaternion Quaternion::ToUnit() const {
-    Quaternion qtmp(*this);
-    qtmp.Normalize();
-    return qtmp;
-}
-
-/// Returns the conjugate of the quaternion.
-Quaternion Quaternion::Conjugate() const {
-    return Quaternion(-q[0], -q[1], -q[2], q[3]);
-}
-
-
-Quaternion Quaternion::FromAxisAngle(const Vector3 &axis, float angle) {
-    // [qx, qy, qz, qw] = [sin(a/2) * vx, sin(a/2)* vy, sin(a/2) * vz, cos(a/2)]
-    float x = sin(angle/2.0f) * axis[0];
-    float y = sin(angle/2.0f) * axis[1];
-    float z = sin(angle/2.0f) * axis[2];
-    float w = cos(angle/2.0f);
-    return Quaternion(x,y,z,w);
-}
-
-
-Quaternion Quaternion::FromEulerAnglesZYX(const Vector3 &angles) {
-    Quaternion rot_x = Quaternion::FromAxisAngle(Vector3::UnitX(), angles[0]);
-    Quaternion rot_y = Quaternion::FromAxisAngle(Vector3::UnitY(), angles[1]);
-    Quaternion rot_z = Quaternion::FromAxisAngle(Vector3::UnitZ(), angles[2]);
-    return rot_z * rot_y * rot_x;
-}
-
-Vector3 Quaternion::ToEulerAnglesZYX() const {
-    // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
-
-    Vector3 angles;
-    
-    // roll (x-axis rotation)
-    float sinr = +2.0f * (w() * x() + y() * z());
-    float cosr = +1.0f - 2.0f * (x() * x() + y() * y());
-    angles[0] = std::atan2(sinr, cosr);
-    
-    // pitch (y-axis rotation)
-    float sinp = +2.0f * (w() * y() - z() * x());
-    if (std::fabs(sinp) >= 1.f)
-        angles[1] = std::copysign(GfxMath::HALF_PI, sinp); // use 90 degrees if out of range
-    else
-        angles[1] = std::asin(sinp);
-    
-    // yaw (z-axis rotation)
-    float siny = +2.0f * (w() * z() + x() * y());
-    float cosy = +1.0f - 2.0f * (y() * y() + z() * z());
-    angles[2] = std::atan2(siny, cosy);
-    
-    return angles;
-}
-
-
-Quaternion operator*(const Quaternion& q1, const Quaternion& q2) {
-    float real1 = q1[3];
-    Vector3 imag1 = Vector3(q1[0], q1[1], q1[2]);
-    
-    float real2 = q2[3];
-    Vector3 imag2 = Vector3(q2[0], q2[1], q2[2]);
-    
-    float real = real1*real2 - imag1.Dot(imag2);
-    Vector3 imag = real1*imag2 + real2*imag1 + imag1.Cross(imag2);
-    
-    return Quaternion(imag[0], imag[1], imag[2], real);
-}
-
-
-Quaternion operator/(const Quaternion& q, const float s) {
-    const float invS = 1.0f / s;
-    return Quaternion(q[0]*invS, q[1]*invS, q[2]*invS, q[3]*invS);
-}
-
-Quaternion operator*(const float s, const Quaternion& q) {
-    return Quaternion(q[0]*s, q[1]*s, q[2]*s, q[3]*s);
-}
-
-Quaternion operator*(const Quaternion& q, const float s) {
-    return Quaternion(q[0]*s, q[1]*s, q[2]*s, q[3]*s);
-}
-
-Quaternion operator-(const Quaternion& q) {
-    return Quaternion(-q[0], -q[1], -q[2], -q[3]);
-}
-
-Quaternion operator+(const Quaternion& q1, const Quaternion& q2) {
-    return Quaternion(q1[0] + q2[0], q1[1] + q2[1], q1[2] + q2[2], q1[3] + q2[3]);
-}
-
-Quaternion operator-(const Quaternion& q1, const Quaternion& q2) {
-    return Quaternion(q1[0] - q2[0], q1[1] - q2[1], q1[2] - q2[2], q1[3] - q2[3]);
-}
-    
-} // end namespace
+/*

+Copyright (c) 2017,2018 Regents of the University of Minnesota.

+All Rights Reserved.

+See corresponding header file for details.

+*/

+

+#define _USE_MATH_DEFINES

+#include "quaternion.h"

+

+#include "gfxmath.h"

+

+namespace mingfx {

+

+

+Quaternion::Quaternion() {

+    q[0] = 0.0;

+    q[1] = 0.0;

+    q[2] = 0.0;

+    q[3] = 1.0;

+}

+

+Quaternion::Quaternion(float qx, float qy, float qz, float qw) {

+    q[0] = qx;

+    q[1] = qy;

+    q[2] = qz;

+    q[3] = qw;

+}

+

+Quaternion::Quaternion(float *ptr) {

+    q[0] = ptr[0];

+    q[1] = ptr[1];

+    q[2] = ptr[2];

+    q[3] = ptr[3];

+}

+

+Quaternion::Quaternion(const Quaternion& other) {

+    q[0] = other[0];

+    q[1] = other[1];

+    q[2] = other[2];

+    q[3] = other[3];

+}

+

+Quaternion::~Quaternion() {

+}

+

+bool Quaternion::operator==(const Quaternion& other) const {

+    return (fabs(other[0] - q[0]) < MINGFX_MATH_EPSILON &&

+            fabs(other[1] - q[1]) < MINGFX_MATH_EPSILON &&

+            fabs(other[2] - q[2]) < MINGFX_MATH_EPSILON &&

+            fabs(other[3] - q[3]) < MINGFX_MATH_EPSILON);

+}

+

+bool Quaternion::operator!=(const Quaternion& other) const {

+    return (fabs(other[0] - q[0]) >= MINGFX_MATH_EPSILON ||

+            fabs(other[1] - q[1]) >= MINGFX_MATH_EPSILON ||

+            fabs(other[2] - q[2]) >= MINGFX_MATH_EPSILON ||

+            fabs(other[3] - q[3]) >= MINGFX_MATH_EPSILON);

+}

+

+Quaternion& Quaternion::operator=(const Quaternion& other) {

+    q[0] = other[0];

+    q[1] = other[1];

+    q[2] = other[2];

+    q[3] = other[3];

+    return *this;

+}

+

+float Quaternion::operator[](const int i) const {

+    if ((i>=0) && (i<=3)) {

+        return q[i];

+    }

+    else {

+        // this is an error!

+        return 0.0;

+    }

+}

+

+float& Quaternion::operator[](const int i) {

+    return q[i];

+}

+

+

+const float * Quaternion::value_ptr() const {

+    return q;

+}

+

+Quaternion Quaternion::Slerp(const Quaternion &other, float alpha) const {

+    // https://en.wikipedia.org/wiki/Slerp

+    

+    Quaternion v0 = *this;

+    Quaternion v1 = other;

+    

+    // Only unit quaternions are valid rotations.

+    // Normalize to avoid undefined behavior.

+    v0.Normalize();

+    v1.Normalize();

+    

+    // Compute the cosine of the angle between the two vectors.

+    float dot = v0.Dot(v1);

+    

+    // If the dot product is negative, the quaternions

+    // have opposite handed-ness and slerp won't take

+    // the shorter path. Fix by reversing one quaternion.

+    if (dot < 0.0f) {

+        v1 = -v1;

+        dot = -dot;

+    }

+    

+    const double DOT_THRESHOLD = 0.9995;

+    if (dot > DOT_THRESHOLD) {

+        // If the inputs are too close for comfort, linearly interpolate

+        // and normalize the result.

+        

+        Quaternion result = v0 + alpha*(v1 - v0);

+        result.Normalize();

+        return result;

+    }

+    

+    GfxMath::Clamp(dot, -1, 1);        // Robustness: Stay within domain of acos()

+    float theta_0 = acos(dot);        // theta_0 = angle between input vectors

+    float theta = theta_0 * alpha;    // theta = angle between v0 and result

+    

+    float s0 = cos(theta) - dot * sin(theta) / sin(theta_0);  // == sin(theta_0 - theta) / sin(theta_0)

+    float s1 = sin(theta) / sin(theta_0);

+    

+    return (s0 * v0) + (s1 * v1);

+}

+

+Quaternion Quaternion::Slerp(const Quaternion &a, const Quaternion &b, float alpha) {

+    return a.Slerp(b, alpha);

+}

+

+

+std::ostream & operator<< ( std::ostream &os, const Quaternion &q) {

+    return os << "<" << q[0] << ", " << q[1] << ", " << q[2] << ", " << q[3] << ")";

+}

+

+std::istream & operator>> ( std::istream &is, Quaternion &q) {

+    // format:  <qx, qy, qz, qw>

+    char dummy;

+    return is >> dummy >> q[0] >> dummy >> q[1] >> dummy >> q[2] >> dummy >> q[3] >> dummy;

+}

+

+

+float Quaternion::Dot(const Quaternion& other) const {

+    return q[0]*other[0] + q[1]*other[1] + q[2]*other[2] + q[3]*other[3];

+

+}

+

+float Quaternion::Length() const {

+    return sqrt(q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);

+}

+

+void Quaternion::Normalize() {

+    float sizeSq =  + q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3];

+    if (sizeSq < MINGFX_MATH_EPSILON) {

+        return; // do nothing to zero quats

+    }

+    float scaleFactor = (float)1.0/(float)sqrt(sizeSq);

+    q[0] *= scaleFactor;

+    q[1] *= scaleFactor;

+    q[2] *= scaleFactor;

+    q[3] *= scaleFactor;

+}

+

+Quaternion Quaternion::ToUnit() const {

+    Quaternion qtmp(*this);

+    qtmp.Normalize();

+    return qtmp;

+}

+

+/// Returns the conjugate of the quaternion.

+Quaternion Quaternion::Conjugate() const {

+    return Quaternion(-q[0], -q[1], -q[2], q[3]);

+}

+

+

+Quaternion Quaternion::FromAxisAngle(const Vector3 &axis, float angle) {

+    // [qx, qy, qz, qw] = [sin(a/2) * vx, sin(a/2)* vy, sin(a/2) * vz, cos(a/2)]

+    float x = sin(angle/2.0f) * axis[0];

+    float y = sin(angle/2.0f) * axis[1];

+    float z = sin(angle/2.0f) * axis[2];

+    float w = cos(angle/2.0f);

+    return Quaternion(x,y,z,w);

+}

+

+

+Quaternion Quaternion::FromEulerAnglesZYX(const Vector3 &angles) {

+    Quaternion rot_x = Quaternion::FromAxisAngle(Vector3::UnitX(), angles[0]);

+    Quaternion rot_y = Quaternion::FromAxisAngle(Vector3::UnitY(), angles[1]);

+    Quaternion rot_z = Quaternion::FromAxisAngle(Vector3::UnitZ(), angles[2]);

+    return rot_z * rot_y * rot_x;

+}

+

+Vector3 Quaternion::ToEulerAnglesZYX() const {

+    // https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles

+

+    Vector3 angles;

+    

+    // roll (x-axis rotation)

+    float sinr = +2.0f * (w() * x() + y() * z());

+    float cosr = +1.0f - 2.0f * (x() * x() + y() * y());

+    angles[0] = std::atan2(sinr, cosr);

+    

+    // pitch (y-axis rotation)

+    float sinp = +2.0f * (w() * y() - z() * x());

+    if (std::fabs(sinp) >= 1.f)

+        angles[1] = std::copysign(GfxMath::HALF_PI, sinp); // use 90 degrees if out of range

+    else

+        angles[1] = std::asin(sinp);

+    

+    // yaw (z-axis rotation)

+    float siny = +2.0f * (w() * z() + x() * y());

+    float cosy = +1.0f - 2.0f * (y() * y() + z() * z());

+    angles[2] = std::atan2(siny, cosy);

+    

+    return angles;

+}

+

+

+Quaternion operator*(const Quaternion& q1, const Quaternion& q2) {

+    float real1 = q1[3];

+    Vector3 imag1 = Vector3(q1[0], q1[1], q1[2]);

+    

+    float real2 = q2[3];

+    Vector3 imag2 = Vector3(q2[0], q2[1], q2[2]);

+    

+    float real = real1*real2 - imag1.Dot(imag2);

+    Vector3 imag = real1*imag2 + real2*imag1 + imag1.Cross(imag2);

+    

+    return Quaternion(imag[0], imag[1], imag[2], real);

+}

+

+

+Quaternion operator/(const Quaternion& q, const float s) {

+    const float invS = 1.0f / s;

+    return Quaternion(q[0]*invS, q[1]*invS, q[2]*invS, q[3]*invS);

+}

+

+Quaternion operator*(const float s, const Quaternion& q) {

+    return Quaternion(q[0]*s, q[1]*s, q[2]*s, q[3]*s);

+}

+

+Quaternion operator*(const Quaternion& q, const float s) {

+    return Quaternion(q[0]*s, q[1]*s, q[2]*s, q[3]*s);

+}

+

+Quaternion operator-(const Quaternion& q) {

+    return Quaternion(-q[0], -q[1], -q[2], -q[3]);

+}

+

+Quaternion operator+(const Quaternion& q1, const Quaternion& q2) {

+    return Quaternion(q1[0] + q2[0], q1[1] + q2[1], q1[2] + q2[2], q1[3] + q2[3]);

+}

+

+Quaternion operator-(const Quaternion& q1, const Quaternion& q2) {

+    return Quaternion(q1[0] - q2[0], q1[1] - q2[1], q1[2] - q2[2], q1[3] - q2[3]);

+}

+    

+} // end namespace