[Freesolid-cvs] freesolid/include/3D Quaternion.h,1.3,1.4

[Rodrigo H. <kw...@us...>]

Update of /cvsroot/freesolid/freesolid/include/3D
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv5632/include/3D

Modified Files:
	Quaternion.h 
Log Message:
Added depth penetration test app, more stuff on depth penetration computation

Index: Quaternion.h
===================================================================
RCS file: /cvsroot/freesolid/freesolid/include/3D/Quaternion.h,v
retrieving revision 1.3
retrieving revision 1.4
diff -C2 -d -r1.3 -r1.4
*** Quaternion.h	21 Apr 2005 23:20:54 -0000	1.3
--- Quaternion.h	8 Jul 2005 23:27:48 -0000	1.4
***************
*** 63,66 ****
--- 63,68 ----
    }
    
+   inline void getMatrix(float *pMatrix) const;
+ 
    Quaternion& operator+=(const Quaternion& q);
    Quaternion& operator-=(const Quaternion& q);
***************
*** 210,213 ****
--- 212,242 ----
  }
  
+ inline void Quaternion::getMatrix(float *pMatrix) const
+ {
+ 	if(!pMatrix) return;
+ 	pMatrix[ 0] = 1.0f - 2.0f * ( comp[Y] * comp[Y] + comp[Z] * comp[Z] ); 
+ 	pMatrix[ 1] = 2.0f * (comp[X] * comp[Y] + comp[Z] * comp[W]);
+ 	pMatrix[ 2] = 2.0f * (comp[X] * comp[Z] - comp[Y] * comp[W]);
+ 	pMatrix[ 3] = 0.0f;  
+ 
+ 	// Second row
+ 	pMatrix[ 4] = 2.0f * ( comp[X] * comp[Y] - comp[Z] * comp[W] );  
+ 	pMatrix[ 5] = 1.0f - 2.0f * ( comp[X] * comp[X] + comp[Z] * comp[Z] ); 
+ 	pMatrix[ 6] = 2.0f * (comp[Z] * comp[Y] + comp[X] * comp[W] );  
+ 	pMatrix[ 7] = 0.0f;  
+ 
+ 	// Third row
+ 	pMatrix[ 8] = 2.0f * ( comp[X] * comp[Z] + comp[Y] * comp[W] );
+ 	pMatrix[ 9] = 2.0f * ( comp[Y] * comp[Z] - comp[X] * comp[W] );
+ 	pMatrix[10] = 1.0f - 2.0f * ( comp[X] * comp[X] + comp[Y] * comp[Y] );  
+ 	pMatrix[11] = 0.0f;  
+ 
+ 	// Fourth row
+ 	pMatrix[12] = 0;  
+ 	pMatrix[13] = 0;  
+ 	pMatrix[14] = 0;  
+ 	pMatrix[15] = 1.0f;
+ }
+ 
  #endif