[Plib-cvs] plib/src/sg sg.cxx,1.41,1.42 sg.h,1.57,1.58 sgd.cxx,1.12,1.13

[Steve B. <sj...@us...>]

Update of /cvsroot/plib/plib/src/sg
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv13664/plib/src/sg

Modified Files:
	sg.cxx sg.h sgd.cxx 
Log Message:
Moved some math out of puAux and into SG.


Index: sg.cxx
===================================================================
RCS file: /cvsroot/plib/plib/src/sg/sg.cxx,v
retrieving revision 1.41
retrieving revision 1.42
diff -u -d -r1.41 -r1.42
--- sg.cxx	20 Jan 2004 22:12:15 -0000	1.41
+++ sg.cxx	18 Mar 2004 19:14:43 -0000	1.42
@@ -1284,6 +1284,7 @@
   Kevin B. Thompson <kev...@ya...>
   Modified by Sylvan W. Clebsch <sy...@st...>
   Largely rewritten by "Negative0" <neg...@ea...>
+  More added by John Fay.
 */
 
 
@@ -1680,6 +1681,102 @@
 }
 
 
[...79 lines suppressed...]
+  sgAddScaledVec3 ( t2_minus_t1_t2_t1, line2.direction_vector, line.direction_vector, -t1_dot_t2 ) ;
+
+  sgFloat u = sgScalarProductVec3 ( r1_minus_r2, t1_t2_t2_minus_t1 ) / ( 1.0f - t1_dot_t2 * t1_dot_t2 ) ;
+  sgFloat v = sgScalarProductVec3 ( r1_minus_r2, t2_minus_t1_t2_t1 ) / ( 1.0f - t1_dot_t2 * t1_dot_t2 ) ;
+
+  /* Since line 2 is a line segment, we limit "v" to between 0 and the distance between the points. */
+  sgFloat length = sgDistanceVec3 ( seg.a, seg.b ) ;
+  if ( v < 0.0 ) v = 0.0 ;
+  if ( v > length ) v = length ;
+
+  sgVec3 point1, point2 ;
+  sgAddScaledVec3 ( point1, line.point_on_line, line.direction_vector, u ) ;
+  sgAddScaledVec3 ( point2, line2.point_on_line, line2.direction_vector, v ) ;
+  return sgDistanceSquaredVec3 ( point1, point2 ) ;
+}
+
+
 void sgReflectInPlaneVec3 ( sgVec3 dst, const sgVec3 src, const sgVec4 plane )
 {
   SGfloat src_dot_norm  = sgScalarProductVec3 ( src, plane ) ;

Index: sg.h
===================================================================
RCS file: /cvsroot/plib/plib/src/sg/sg.h,v
retrieving revision 1.57
retrieving revision 1.58
diff -u -d -r1.57 -r1.58
--- sg.h	2 Feb 2004 01:35:15 -0000	1.57
+++ sg.h	18 Mar 2004 19:14:43 -0000	1.58
@@ -1175,6 +1175,7 @@
   Kevin B. Thompson <kev...@ya...>
   Modified by Sylvan W. Clebsch <sy...@st...>
   Largely rewritten by "Negative0" <neg...@ea...>
+  Added to by John Fay
 */
 
 /*
@@ -1288,6 +1289,7 @@
   sgEulerToQuat ( dst, tmp ) ;
 }
 
+
 /* Multiply quaternions together (concatenate rotations) */
 
 void sgMultQuat ( sgQuat dst, const sgQuat a, const sgQuat b ) ;
@@ -2759,6 +2761,27 @@
 }
 
 
+/* Function to rotate a vector through a given quaternion using the formula
+ * R = Q r Q-1 -- this gives the components of a ROTATED vector in a STATIONARY
+ * coordinate system.  We assume that Q is a unit quaternion.
+ */
+
+void sgRotateVecQuat ( sgVec3 vec, sgQuat q ) ;
+void sgdRotateVecQuat ( sgdVec3 vec, sgdQuat q ) ;
+
+/* Function to rotate a vector through a given quaternion using the formula
+ * R = Q-1 r Q -- this gives the components of a STATIONARY vector in a ROTATED
+ * coordinate system.  We assume that Q is a unit quaternion.
+ */
+
+void sgRotateCoordQuat ( sgVec3 vec, sgQuat q ) ;
+void sgdRotateCoordQuat ( sgdVec3 vec, sgdQuat q ) ;
+
+sgFloat sgDistSquaredToLineLineSegment ( const sgLineSegment3 seg, const sgLine3 line ) ;
+sgdFloat sgdDistSquaredToLineLineSegment ( const sgdLineSegment3 seg, const sgdLine3 line ) ;
+
+
+
 /*
   Intersection testing.
 */

Index: sgd.cxx
===================================================================
RCS file: /cvsroot/plib/plib/src/sg/sgd.cxx,v
retrieving revision 1.12
retrieving revision 1.13
diff -u -d -r1.12 -r1.13
--- sgd.cxx	12 Nov 2003 12:39:16 -0000	1.12
+++ sgd.cxx	18 Mar 2004 19:14:43 -0000	1.13
@@ -1678,6 +1678,104 @@
   dst[SGD_W] = scale0 * from[SGD_W] + scale1 * to[SGD_W] ;
 }
 
+
+
+
+/* Function to rotate a vector through a given quaternion using the formula
+ * R = Q r Q-1 -- this gives the components of a ROTATED vector in a STATIONARY
+ * coordinate system.  We assume that Q is a unit quaternion.
+ */
+void sgdRotateVecQuat ( sgdVec3 vec, sgdQuat q )
[...73 lines suppressed...]
+  sgdAddScaledVec3 ( t2_minus_t1_t2_t1, line2.direction_vector, line.direction_vector, -t1_dot_t2 ) ;
+
+  sgdFloat u = sgdScalarProductVec3 ( r1_minus_r2, t1_t2_t2_minus_t1 ) / ( 1.0f - t1_dot_t2 * t1_dot_t2 ) ;
+  sgdFloat v = sgdScalarProductVec3 ( r1_minus_r2, t2_minus_t1_t2_t1 ) / ( 1.0f - t1_dot_t2 * t1_dot_t2 ) ;
+
+  /* Since line 2 is a line segment, we limit "v" to between 0 and the distance between the points. */
+  sgdFloat length = sgdDistanceVec3 ( seg.a, seg.b ) ;
+  if ( v < 0.0 ) v = 0.0 ;
+  if ( v > length ) v = length ;
+
+  sgdVec3 point1, point2 ;
+  sgdAddScaledVec3 ( point1, line.point_on_line, line.direction_vector, u ) ;
+  sgdAddScaledVec3 ( point2, line2.point_on_line, line2.direction_vector, v ) ;
+  return sgdDistanceSquaredVec3 ( point1, point2 ) ;
+}
+
+
  
 void sgdReflectInPlaneVec3 ( sgdVec3 dst, const sgdVec3 src, const sgdVec4 plane )
 {