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quat.cal
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1995-07-17
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/*
* Copyright (c) 1993 David I. Bell
* Permission is granted to use, distribute, or modify this source,
* provided that this copyright notice remains intact.
*
* Routines to handle quaternions of the form:
* a + bi + cj + dk
*
* Note: In this module, quaternians are manipulated in the form:
* s + v
* Where s is a scalar and v is a vector of size 3.
*/
obj quat {s, v}; /* definition of the quaternion object */
define quat(a,b,c,d)
{
local obj quat x;
x.s = isnull(a) ? 0 : a;
mat x.v[3];
x.v[0] = isnull(b) ? 0 : b;
x.v[1] = isnull(c) ? 0 : c;
x.v[2] = isnull(d) ? 0 : d;
return x;
}
define quat_print(a)
{
print "quat(" : a.s : ", " : a.v[0] : ", " : a.v[1] : ", " : a.v[2] : ")" :;
}
define quat_norm(a)
{
return a.s^2 + dp(a.v, a.v);
}
define quat_abs(a, e)
{
return sqrt(a.s^2 + dp(a.v, a.v), e);
}
define quat_conj(a)
{
local obj quat x;
x.s = a.s;
x.v = -a.v;
return x;
}
define quat_add(a, b)
{
local obj quat x;
if (!istype(b, x)) {
x.s = a.s + b;
x.v = a.v;
return x;
}
if (!istype(a, x)) {
x.s = a + b.s;
x.v = b.v;
return x;
}
x.s = a.s + b.s;
x.v = a.v + b.v;
if (x.v)
return x;
return x.s;
}
define quat_sub(a, b)
{
local obj quat x;
if (!istype(b, x)) {
x.s = a.s - b;
x.v = a.v;
return x;
}
if (!istype(a, x)) {
x.s = a - b.s;
x.v = -b.v;
return x;
}
x.s = a.s - b.s;
x.v = a.v - b.v;
if (x.v)
return x;
return x.s;
}
define quat_inc(a)
{
local x;
x = a;
x.s++;
return x;
}
define quat_dec(a)
{
local x;
x = a;
x.s--;
return x;
}
define quat_neg(a)
{
local obj quat x;
x.s = -a.s;
x.v = -a.v;
return x;
}
define quat_mul(a, b)
{
local obj quat x;
if (!istype(b, x)) {
x.s = a.s * b;
x.v = a.v * b;
} else if (!istype(a, x)) {
x.s = b.s * a;
x.v = b.v * a;
} else {
x.s = a.s * b.s - dp(a.v, b.v);
x.v = a.s * b.v + b.s * a.v + cp(a.v, b.v);
}
if (x.v)
return x;
return x.s;
}
define quat_div(a, b)
{
local obj quat x;
if (!istype(b, x)) {
x.s = a.s / b;
x.v = a.v / b;
return x;
}
return a * quat_inv(b);
}
define quat_inv(a)
{
local x, q2;
obj quat x;
q2 = a.s^2 + dp(a.v, a.v);
x.s = a.s / q2;
x.v = a.v / (-q2);
return x;
}
define quat_scale(a, b)
{
local obj quat x;
x.s = scale(a.s, b);
x.v = scale(a.v, b);
return x;
}
define quat_shift(a, b)
{
local obj quat x;
x.s = a.s << b;
x.v = a.v << b;
if (x.v)
return x;
return x.s;
}
global lib_debug;
if (lib_debug >= 0) {
print "obj quat {s, v} defined";
print "quat(a, b, c, d) defined";
print "quat_print(a) defined";
print "quat_norm(a) defined";
print "quat_abs(a, e) defined";
print "quat_conj(a) defined";
print "quat_add(a, e) defined";
print "quat_sub(a, e) defined";
print "quat_inc(a) defined";
print "quat_dec(a) defined";
print "quat_neg(a) defined";
print "quat_mul(a, b) defined";
print "quat_div(a, b) defined";
print "quat_inv(a) defined";
print "quat_scale(a, b) defined";
print "quat_shift(a, b) defined";
}