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-rw-r--r--src/PhysicsMath.h1190
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diff --git a/src/PhysicsMath.h b/src/PhysicsMath.h
deleted file mode 100644
index c6c320c..0000000
--- a/src/PhysicsMath.h
+++ /dev/null
@@ -1,1190 +0,0 @@
-#ifndef _PHYSICSMATH_H_
-
-#define _PHYSICSMATH_H_
-
-#include <cmath>
-
-#include "Quaternions.h"
-
-//------------------------------------------------------------------------//
-
-// Misc. Constants
-
-//------------------------------------------------------------------------//
-
-const float pi = acosf(-1);
-
-float const g = -32.174f; // acceleration due to gravity, ft/s^2
-
-float const rho = 0.0023769f; // desity of air at sea level, slugs/ft^3
-
-float const tol = 0.0000000001f; // float type tolerance
-
-//------------------------------------------------------------------------//
-
-// Misc. Functions
-
-//------------------------------------------------------------------------//
-
-inline float DegreesToRadians(float deg);
-
-inline float RadiansToDegrees(float rad);
-
-inline float DegreesToRadians(float deg)
-{
- return deg * pi / 180.0f;
-}
-
-inline float RadiansToDegrees(float rad)
-{
- return rad * 180.0f / pi;
-}
-
-//------------------------------------------------------------------------//
-
-// Vector Class and vector functions
-
-//------------------------------------------------------------------------//
-
-class Vector {
-
-public:
-
- float x;
-
- float y;
-
- float z;
-
- Vector(void);
-
- Vector(float xi, float yi, float zi);
-
- float Magnitude(void);
-
- void Normalize(void);
-
- void Reverse(void);
-
- Vector& operator+=(Vector u); // vector addition
-
- Vector& operator-=(Vector u); // vector subtraction
-
- Vector& operator*=(float s); // scalar multiply
-
- Vector& operator/=(float s); // scalar divide
-
- Vector operator-(void);
-
-};
-
-inline Vector operator+(Vector u, Vector v);
-
-inline Vector operator-(Vector u, Vector v);
-
-inline Vector operator^(Vector u, Vector v);
-
-inline float operator*(Vector u, Vector v);
-
-inline Vector operator*(float s, Vector u);
-
-inline Vector operator*(Vector u, float s);
-
-inline Vector operator/(Vector u, float s);
-
-inline float TripleScalarProduct(Vector u, Vector v, Vector w);
-
-inline Vector::Vector(void)
-
-{
-
- x = 0;
-
- y = 0;
-
- z = 0;
-
-}
-
-inline Vector::Vector(float xi, float yi, float zi)
-
-{
-
- x = xi;
-
- y = yi;
-
- z = zi;
-
-}
-
-inline float Vector::Magnitude(void)
-
-{
-
- return (float) sqrt(x*x + y*y + z*z);
-
-}
-
-inline void Vector::Normalize(void)
-
-{
-
- float m = (float) sqrt(x*x + y*y + z*z);
-
- if(m <= tol) m = 1;
-
- x /= m;
-
- y /= m;
-
- z /= m;
-
- if (fabs(x) < tol) x = 0.0f;
-
- if (fabs(y) < tol) y = 0.0f;
-
- if (fabs(z) < tol) z = 0.0f;
-
-}
-
-inline void Vector::Reverse(void)
-
-{
-
- x = -x;
-
- y = -y;
-
- z = -z;
-
-}
-
-inline Vector& Vector::operator+=(Vector u)
-
-{
-
- x += u.x;
-
- y += u.y;
-
- z += u.z;
-
- return *this;
-
-}
-
-inline Vector& Vector::operator-=(Vector u)
-
-{
-
- x -= u.x;
-
- y -= u.y;
-
- z -= u.z;
-
- return *this;
-
-}
-
-inline Vector& Vector::operator*=(float s)
-
-{
-
- x *= s;
-
- y *= s;
-
- z *= s;
-
- return *this;
-
-}
-
-inline Vector& Vector::operator/=(float s)
-
-{
-
- x /= s;
-
- y /= s;
-
- z /= s;
-
- return *this;
-
-}
-
-inline Vector Vector::operator-(void)
-
-{
-
- return Vector(-x, -y, -z);
-
-}
-
-inline Vector operator+(Vector u, Vector v)
-
-{
-
- return Vector(u.x + v.x, u.y + v.y, u.z + v.z);
-
-}
-
-inline Vector operator-(Vector u, Vector v)
-
-{
-
- return Vector(u.x - v.x, u.y - v.y, u.z - v.z);
-
-}
-
-// Vector cross product (u cross v)
-
-inline Vector operator^(Vector u, Vector v)
-
-{
-
- return Vector( u.y*v.z - u.z*v.y,
-
- -u.x*v.z + u.z*v.x,
-
- u.x*v.y - u.y*v.x );
-
-}
-
-// Vector dot product
-
-inline float operator*(Vector u, Vector v)
-
-{
-
- return (u.x*v.x + u.y*v.y + u.z*v.z);
-
-}
-
-inline Vector operator*(float s, Vector u)
-
-{
-
- return Vector(u.x*s, u.y*s, u.z*s);
-
-}
-
-inline Vector operator*(Vector u, float s)
-
-{
-
- return Vector(u.x*s, u.y*s, u.z*s);
-
-}
-
-inline Vector operator/(Vector u, float s)
-
-{
-
- return Vector(u.x/s, u.y/s, u.z/s);
-
-}
-
-// triple scalar product (u dot (v cross w))
-
-inline float TripleScalarProduct(Vector u, Vector v, Vector w)
-
-{
-
- return float( (u.x * (v.y*w.z - v.z*w.y)) +
-
- (u.y * (-v.x*w.z + v.z*w.x)) +
-
- (u.z * (v.x*w.y - v.y*w.x)) );
-
- //return u*(v^w);
-
-}
-
-//------------------------------------------------------------------------//
-
-// Matrix Class and matrix functions
-
-//------------------------------------------------------------------------//
-
-class Matrix3x3 {
-
-public:
-
- // elements eij: i -> row, j -> column
-
- float e11, e12, e13, e21, e22, e23, e31, e32, e33;
-
- Matrix3x3(void);
-
- Matrix3x3( float r1c1, float r1c2, float r1c3,
-
- float r2c1, float r2c2, float r2c3,
-
- float r3c1, float r3c2, float r3c3 );
-
- float det(void);
-
- Matrix3x3 Transpose(void);
-
- Matrix3x3 Inverse(void);
-
- Matrix3x3& operator+=(Matrix3x3 m);
-
- Matrix3x3& operator-=(Matrix3x3 m);
-
- Matrix3x3& operator*=(float s);
-
- Matrix3x3& operator/=(float s);
-
-};
-
-inline Matrix3x3 operator+(Matrix3x3 m1, Matrix3x3 m2);
-
-inline Matrix3x3 operator-(Matrix3x3 m1, Matrix3x3 m2);
-
-inline Matrix3x3 operator/(Matrix3x3 m, float s);
-
-inline Matrix3x3 operator*(Matrix3x3 m1, Matrix3x3 m2);
-
-inline Matrix3x3 operator*(Matrix3x3 m, float s);
-
-inline Matrix3x3 operator*(float s, Matrix3x3 m);
-
-inline Vector operator*(Matrix3x3 m, Vector u);
-
-inline Vector operator*(Vector u, Matrix3x3 m);
-
-inline Matrix3x3::Matrix3x3(void)
-
-{
-
- e11 = 0;
-
- e12 = 0;
-
- e13 = 0;
-
- e21 = 0;
-
- e22 = 0;
-
- e23 = 0;
-
- e31 = 0;
-
- e32 = 0;
-
- e33 = 0;
-
-}
-
-inline Matrix3x3::Matrix3x3( float r1c1, float r1c2, float r1c3,
-
- float r2c1, float r2c2, float r2c3,
-
- float r3c1, float r3c2, float r3c3 )
-
-{
-
- e11 = r1c1;
-
- e12 = r1c2;
-
- e13 = r1c3;
-
- e21 = r2c1;
-
- e22 = r2c2;
-
- e23 = r2c3;
-
- e31 = r3c1;
-
- e32 = r3c2;
-
- e33 = r3c3;
-
-}
-
-inline float Matrix3x3::det(void)
-
-{
-
- return e11*e22*e33 -
-
- e11*e32*e23 +
-
- e21*e32*e13 -
-
- e21*e12*e33 +
-
- e31*e12*e23 -
-
- e31*e22*e13;
-
-}
-
-inline Matrix3x3 Matrix3x3::Transpose(void)
-
-{
-
- return Matrix3x3(e11,e21,e31,e12,e22,e32,e13,e23,e33);
-
-}
-
-inline Matrix3x3 Matrix3x3::Inverse(void)
-
-{
-
- float d = e11*e22*e33 -
-
- e11*e32*e23 +
-
- e21*e32*e13 -
-
- e21*e12*e33 +
-
- e31*e12*e23 -
-
- e31*e22*e13;
-
- if (abs(d) < 0.01f)
- d = 1;
-
- return Matrix3x3( (e22*e33-e23*e32)/d,
-
- -(e12*e33-e13*e32)/d,
-
- (e12*e23-e13*e22)/d,
-
- -(e21*e33-e23*e31)/d,
-
- (e11*e33-e13*e31)/d,
-
- -(e11*e23-e13*e21)/d,
-
- (e21*e32-e22*e31)/d,
-
- -(e11*e32-e12*e31)/d,
-
- (e11*e22-e12*e21)/d );
-
-}
-
-inline Matrix3x3& Matrix3x3::operator+=(Matrix3x3 m)
-
-{
-
- e11 += m.e11;
-
- e12 += m.e12;
-
- e13 += m.e13;
-
- e21 += m.e21;
-
- e22 += m.e22;
-
- e23 += m.e23;
-
- e31 += m.e31;
-
- e32 += m.e32;
-
- e33 += m.e33;
-
- return *this;
-
-}
-
-inline Matrix3x3& Matrix3x3::operator-=(Matrix3x3 m)
-
-{
-
- e11 -= m.e11;
-
- e12 -= m.e12;
-
- e13 -= m.e13;
-
- e21 -= m.e21;
-
- e22 -= m.e22;
-
- e23 -= m.e23;
-
- e31 -= m.e31;
-
- e32 -= m.e32;
-
- e33 -= m.e33;
-
- return *this;
-
-}
-
-inline Matrix3x3& Matrix3x3::operator*=(float s)
-
-{
-
- e11 *= s;
-
- e12 *= s;
-
- e13 *= s;
-
- e21 *= s;
-
- e22 *= s;
-
- e23 *= s;
-
- e31 *= s;
-
- e32 *= s;
-
- e33 *= s;
-
- return *this;
-
-}
-
-inline Matrix3x3& Matrix3x3::operator/=(float s)
-
-{
-
- e11 /= s;
-
- e12 /= s;
-
- e13 /= s;
-
- e21 /= s;
-
- e22 /= s;
-
- e23 /= s;
-
- e31 /= s;
-
- e32 /= s;
-
- e33 /= s;
-
- return *this;
-
-}
-
-inline Matrix3x3 operator+(Matrix3x3 m1, Matrix3x3 m2)
-
-{
-
- return Matrix3x3( m1.e11+m2.e11,
-
- m1.e12+m2.e12,
-
- m1.e13+m2.e13,
-
- m1.e21+m2.e21,
-
- m1.e22+m2.e22,
-
- m1.e23+m2.e23,
-
- m1.e31+m2.e31,
-
- m1.e32+m2.e32,
-
- m1.e33+m2.e33);
-
-}
-
-inline Matrix3x3 operator-(Matrix3x3 m1, Matrix3x3 m2)
-
-{
-
- return Matrix3x3( m1.e11-m2.e11,
-
- m1.e12-m2.e12,
-
- m1.e13-m2.e13,
-
- m1.e21-m2.e21,
-
- m1.e22-m2.e22,
-
- m1.e23-m2.e23,
-
- m1.e31-m2.e31,
-
- m1.e32-m2.e32,
-
- m1.e33-m2.e33);
-
-}
-
-inline Matrix3x3 operator/(Matrix3x3 m, float s)
-
-{
-
- return Matrix3x3( m.e11/s,
-
- m.e12/s,
-
- m.e13/s,
-
- m.e21/s,
-
- m.e22/s,
-
- m.e23/s,
-
- m.e31/s,
-
- m.e32/s,
-
- m.e33/s);
-
-}
-
-inline Matrix3x3 operator*(Matrix3x3 m1, Matrix3x3 m2)
-
-{
-
- return Matrix3x3( m1.e11*m2.e11 + m1.e12*m2.e21 + m1.e13*m2.e31,
-
- m1.e11*m2.e12 + m1.e12*m2.e22 + m1.e13*m2.e32,
-
- m1.e11*m2.e13 + m1.e12*m2.e23 + m1.e13*m2.e33,
-
- m1.e21*m2.e11 + m1.e22*m2.e21 + m1.e23*m2.e31,
-
- m1.e21*m2.e12 + m1.e22*m2.e22 + m1.e23*m2.e32,
-
- m1.e21*m2.e13 + m1.e22*m2.e23 + m1.e23*m2.e33,
-
- m1.e31*m2.e11 + m1.e32*m2.e21 + m1.e33*m2.e31,
-
- m1.e31*m2.e12 + m1.e32*m2.e22 + m1.e33*m2.e32,
-
- m1.e31*m2.e13 + m1.e32*m2.e23 + m1.e33*m2.e33 );
-
-}
-
-inline Matrix3x3 operator*(Matrix3x3 m, float s)
-
-{
-
- return Matrix3x3( m.e11*s,
-
- m.e12*s,
-
- m.e13*s,
-
- m.e21*s,
-
- m.e22*s,
-
- m.e23*s,
-
- m.e31*s,
-
- m.e32*s,
-
- m.e33*s);
-
-}
-
-inline Matrix3x3 operator*(float s, Matrix3x3 m)
-
-{
-
- return Matrix3x3( m.e11*s,
-
- m.e12*s,
-
- m.e13*s,
-
- m.e21*s,
-
- m.e22*s,
-
- m.e23*s,
-
- m.e31*s,
-
- m.e32*s,
-
- m.e33*s);
-
-}
-
-inline Vector operator*(Matrix3x3 m, Vector u)
-
-{
-
- return Vector( m.e11*u.x + m.e12*u.y + m.e13*u.z,
-
- m.e21*u.x + m.e22*u.y + m.e23*u.z,
-
- m.e31*u.x + m.e32*u.y + m.e33*u.z);
-
-}
-
-inline Vector operator*(Vector u, Matrix3x3 m)
-
-{
-
- return Vector( u.x*m.e11 + u.y*m.e21 + u.z*m.e31,
-
- u.x*m.e12 + u.y*m.e22 + u.z*m.e32,
-
- u.x*m.e13 + u.y*m.e23 + u.z*m.e33);
-
-}
-
-//------------------------------------------------------------------------//
-
-// Quaternion Class and Quaternion functions
-
-//------------------------------------------------------------------------//
-
-class Quaternion {
-
-public:
-
- float n; // number (scalar) part
-
- Vector v; // vector part: v.x, v.y, v.z
-
- Quaternion(void);
-
- Quaternion(float e0, float e1, float e2, float e3);
-
- float Magnitude(void);
-
- Vector GetVector(void);
-
- float GetScalar(void);
-
- Quaternion operator+=(Quaternion q);
-
- Quaternion operator-=(Quaternion q);
-
- Quaternion operator*=(float s);
-
- Quaternion operator/=(float s);
-
- Quaternion operator~(void) const { return Quaternion(n, -v.x, -v.y, -v.z);}
-
-};
-
-inline Quaternion operator+(Quaternion q1, Quaternion q2);
-
-inline Quaternion operator-(Quaternion q1, Quaternion q2);
-
-inline Quaternion operator*(Quaternion q1, Quaternion q2);
-
-inline Quaternion operator*(Quaternion q, float s);
-
-inline Quaternion operator*(float s, Quaternion q);
-
-inline Quaternion operator*(Quaternion q, Vector v);
-
-inline Quaternion operator*(Vector v, Quaternion q);
-
-inline Quaternion operator/(Quaternion q, float s);
-
-inline float QGetAngle(Quaternion q);
-
-inline Vector QGetAxis(Quaternion q);
-
-inline Quaternion QRotate(Quaternion q1, Quaternion q2);
-
-inline Vector QVRotate(Quaternion q, Vector v);
-
-inline Quaternion MakeQFromEulerAngles(float x, float y, float z);
-
-inline Vector MakeEulerAnglesFromQ(Quaternion q);
-
-inline Quaternion::Quaternion(void)
-
-{
-
- n = 0;
-
- v.x = 0;
-
- v.y = 0;
-
- v.z = 0;
-
-}
-
-inline Quaternion::Quaternion(float e0, float e1, float e2, float e3)
-
-{
-
- n = e0;
-
- v.x = e1;
-
- v.y = e2;
-
- v.z = e3;
-
-}
-
-inline float Quaternion::Magnitude(void)
-
-{
-
- return (float) sqrt(n*n + v.x*v.x + v.y*v.y + v.z*v.z);
-
-}
-
-inline Vector Quaternion::GetVector(void)
-
-{
-
- return Vector(v.x, v.y, v.z);
-
-}
-
-inline float Quaternion::GetScalar(void)
-
-{
-
- return n;
-
-}
-
-inline Quaternion Quaternion::operator+=(Quaternion q)
-
-{
-
- n += q.n;
-
- v.x += q.v.x;
-
- v.y += q.v.y;
-
- v.z += q.v.z;
-
- return *this;
-
-}
-
-inline Quaternion Quaternion::operator-=(Quaternion q)
-
-{
-
- n -= q.n;
-
- v.x -= q.v.x;
-
- v.y -= q.v.y;
-
- v.z -= q.v.z;
-
- return *this;
-
-}
-
-inline Quaternion Quaternion::operator*=(float s)
-
-{
-
- n *= s;
-
- v.x *= s;
-
- v.y *= s;
-
- v.z *= s;
-
- return *this;
-
-}
-
-inline Quaternion Quaternion::operator/=(float s)
-
-{
-
- n /= s;
-
- v.x /= s;
-
- v.y /= s;
-
- v.z /= s;
-
- return *this;
-
-}
-
-/*inline Quaternion Quaternion::operator~()
-
-{
-
- return Quaternion(n, -v.x, -v.y, -v.z);
-
-}*/
-
-inline Quaternion operator+(Quaternion q1, Quaternion q2)
-
-{
-
- return Quaternion( q1.n + q2.n,
-
- q1.v.x + q2.v.x,
-
- q1.v.y + q2.v.y,
-
- q1.v.z + q2.v.z);
-
-}
-
-inline Quaternion operator-(Quaternion q1, Quaternion q2)
-
-{
-
- return Quaternion( q1.n - q2.n,
-
- q1.v.x - q2.v.x,
-
- q1.v.y - q2.v.y,
-
- q1.v.z - q2.v.z);
-
-}
-
-inline Quaternion operator*(Quaternion q1, Quaternion q2)
-
-{
-
- return Quaternion( q1.n*q2.n - q1.v.x*q2.v.x - q1.v.y*q2.v.y - q1.v.z*q2.v.z,
-
- q1.n*q2.v.x + q1.v.x*q2.n + q1.v.y*q2.v.z - q1.v.z*q2.v.y,
-
- q1.n*q2.v.y + q1.v.y*q2.n + q1.v.z*q2.v.x - q1.v.x*q2.v.z,
-
- q1.n*q2.v.z + q1.v.z*q2.n + q1.v.x*q2.v.y - q1.v.y*q2.v.x);
-
-}
-
-inline Quaternion operator*(Quaternion q, float s)
-
-{
-
- return Quaternion(q.n*s, q.v.x*s, q.v.y*s, q.v.z*s);
-
-}
-
-inline Quaternion operator*(float s, Quaternion q)
-
-{
-
- return Quaternion(q.n*s, q.v.x*s, q.v.y*s, q.v.z*s);
-
-}
-
-inline Quaternion operator*(Quaternion q, Vector v)
-
-{
-
- return Quaternion( -(q.v.x*v.x + q.v.y*v.y + q.v.z*v.z),
-
- q.n*v.x + q.v.y*v.z - q.v.z*v.y,
-
- q.n*v.y + q.v.z*v.x - q.v.x*v.z,
-
- q.n*v.z + q.v.x*v.y - q.v.y*v.x);
-
-}
-
-inline Quaternion operator*(Vector v, Quaternion q)
-
-{
-
- return Quaternion( -(q.v.x*v.x + q.v.y*v.y + q.v.z*v.z),
-
- q.n*v.x + q.v.z*v.y - q.v.y*v.z,
-
- q.n*v.y + q.v.x*v.z - q.v.z*v.x,
-
- q.n*v.z + q.v.y*v.x - q.v.x*v.y);
-
-}
-
-inline Quaternion operator/(Quaternion q, float s)
-
-{
-
- return Quaternion(q.n/s, q.v.x/s, q.v.y/s, q.v.z/s);
-
-}
-
-inline float QGetAngle(Quaternion q)
-
-{
-
- return (float) (2*acos(q.n));
-
-}
-
-inline Vector QGetAxis(Quaternion q)
-
-{
-
- Vector v;
-
- float m;
-
- v = q.GetVector();
-
- m = v.Magnitude();
-
- if (m <= tol)
-
- return Vector();
-
- else
-
- return v/m;
-
-}
-
-inline Quaternion QRotate(Quaternion q1, Quaternion q2)
-
-{
-
- return q1*q2*(~q1);
-
-}
-
-inline Vector QVRotate(Quaternion q, Vector v)
-
-{
-
- Quaternion t;
-
- t = q*v*(~q);
-
- return t.GetVector();
-
-}
-
-inline Quaternion MakeQFromEulerAngles(float x, float y, float z)
-
-{
-
- Quaternion q;
-
- double roll = DegreesToRadians(x);
-
- double pitch = DegreesToRadians(y);
-
- double yaw = DegreesToRadians(z);
-
- double cyaw, cpitch, croll, syaw, spitch, sroll;
-
- double cyawcpitch, syawspitch, cyawspitch, syawcpitch;
-
- cyaw = cos(0.5f * yaw);
-
- cpitch = cos(0.5f * pitch);
-
- croll = cos(0.5f * roll);
-
- syaw = sin(0.5f * yaw);
-
- spitch = sin(0.5f * pitch);
-
- sroll = sin(0.5f * roll);
-
- cyawcpitch = cyaw*cpitch;
-
- syawspitch = syaw*spitch;
-
- cyawspitch = cyaw*spitch;
-
- syawcpitch = syaw*cpitch;
-
- q.n = (float) (cyawcpitch * croll + syawspitch * sroll);
-
- q.v.x = (float) (cyawcpitch * sroll - syawspitch * croll);
-
- q.v.y = (float) (cyawspitch * croll + syawcpitch * sroll);
-
- q.v.z = (float) (syawcpitch * croll - cyawspitch * sroll);
-
- return q;
-
-}
-
-inline Vector MakeEulerAnglesFromQ(Quaternion q)
-
-{
-
- double r11, r21, r31, r32, r33, r12, r13;
-
- double q00, q11, q22, q33;
-
- double tmp;
-
- Vector u;
-
- q00 = q.n * q.n;
-
- q11 = q.v.x * q.v.x;
-
- q22 = q.v.y * q.v.y;
-
- q33 = q.v.z * q.v.z;
-
- r11 = q00 + q11 - q22 - q33;
-
- r21 = 2 * (q.v.x*q.v.y + q.n*q.v.z);
-
- r31 = 2 * (q.v.x*q.v.z - q.n*q.v.y);
-
- r32 = 2 * (q.v.y*q.v.z + q.n*q.v.x);
-
- r33 = q00 - q11 - q22 + q33;
-
- tmp = fabs(r31);
-
- if(tmp > 0.999999)
-
- {
-
- r12 = 2 * (q.v.x*q.v.y - q.n*q.v.z);
-
- r13 = 2 * (q.v.x*q.v.z + q.n*q.v.y);
-
- u.x = RadiansToDegrees(0.0f); //roll
-
- u.y = RadiansToDegrees((float) (-(pi/2) * r31/tmp)); // pitch
-
- u.z = RadiansToDegrees((float) atan2(-r12, -r31*r13)); // yaw
-
- return u;
-
- }
-
- u.x = RadiansToDegrees((float) atan2(r32, r33)); // roll
-
- u.y = RadiansToDegrees((float) asin(-r31)); // pitch
-
- u.z = RadiansToDegrees((float) atan2(r21, r11)); // yaw
-
- return u;
-
-}
-
-#endif
generated by cgit v1.2.3 (git 2.25.1) at 2026-01-14 23:31:32 +0000