Torque3D-clone/Engine/lib/bullet/examples/ThirdPartyLibs/BussIK/Misc.cpp

/*
*
* Mathematics Subpackage (VrMath)
*
*
* Author: Samuel R. Buss, [email protected].
* Web page: http://math.ucsd.edu/~sbuss/MathCG
*
*
This software is provided 'as-is', without any express or implied warranty.
In no event will the authors be held liable for any damages arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it freely,
subject to the following restrictions:

1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
3. This notice may not be removed or altered from any source distribution.
*
*
*/

#include <math.h>
#include "LinearR3.h"



/****************************************************************
							 Axes 
*****************************************************************/
static float xx[] = {
		0., 1., 0., 1.
	      };

static float xy[] = {
		-.5, .5, .5, -.5
	      };

static int xorder[] = {
		1, 2, -3, 4
		};


static float yx[] = {
		0., 0., -.5, .5
	      };

static float yy[] = {
		0.f, .6f, 1.f, 1.f
	      };

static int yorder[] = {
		1, 2, 3, -2, 4
		};


static float zx[] = {
		1., 0., 1., 0., .25, .75
	      };

static float zy[] = {
		.5, .5, -.5, -.5, 0., 0.
	      };

static int zorder[] = {
		1, 2, 3, 4, -5, 6
		};

#define LENFRAC		0.10
#define BASEFRAC	1.10


/****************************************************************
							 Arrow 
*****************************************************************/

/* size of wings as fraction of length:					*/

#define WINGS	0.10


/* axes:								*/

#define X	1
#define Y	2
#define Z	3


/* x, y, z, axes:							*/

static float axx[3] = { 1., 0., 0. };
static float ayy[3] = { 0., 1., 0. };
static float azz[3] = { 0., 0., 1. };



/* function declarations:						*/

void	cross( float [3], float [3], float [3] );
float	dot( float [3], float [3] );
float	unit( float [3], float [3] );





float dot( float v1[3], float v2[3] )
{
	return( v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2] );
}



void
cross( float v1[3], float v2[3], float vout[3] )
{
	float tmp[3];

	tmp[0] = v1[1]*v2[2] - v2[1]*v1[2];
	tmp[1] = v2[0]*v1[2] - v1[0]*v2[2];
	tmp[2] = v1[0]*v2[1] - v2[0]*v1[1];

	vout[0] = tmp[0];
	vout[1] = tmp[1];
	vout[2] = tmp[2];
}



float
unit( float vin[3], float vout[3] )
{
	float dist, f ;

	dist = vin[0]*vin[0] + vin[1]*vin[1] + vin[2]*vin[2];

	if( dist > 0.0 )
	{
		dist = sqrt( dist );
		f = 1. / dist;
		vout[0] = f * vin[0];
		vout[1] = f * vin[1];
		vout[2] = f * vin[2];
	}
	else
	{
		vout[0] = vin[0];
		vout[1] = vin[1];
		vout[2] = vin[2];
	}

	return( dist );
}