Normalised line endings

1 files changed, 107 insertions, 107 deletions

diff --git a/utils/hacks/TreeGraphs/Graphics/Geometry/quat.py b/utils/hacks/TreeGraphs/Graphics/Geometry/quat.py
index f7837891..663d3d8c 100644
--- a/utils/hacks/TreeGraphs/Graphics/Geometry/quat.py
+++ b/utils/hacks/TreeGraphs/Graphics/Geometry/quat.py
@@ -1,107 +1,107 @@
-from __future__ import division

-

-import math

-import vec3, vec4

-

-def identity():

-	return (0.0,0.0,0.0,1.0)

-

-def fromaxisangle(axisangle):

-	axis,angle= axisangle

-	ang_2= angle/2.0

-	s_ang= math.sin(ang_2)

-	c_ang= math.cos(ang_2)

-	

-	q= vec3.mulN(axis, s_ang) + (c_ang,)

-	return normalize(q)

-

-def fromnormals(n1,n2):

-	axis,angle= vec3.normalize(vec3.cross(n1, n2)), math.acos(vec3.dot(n1, n2))

-	return fromaxisangle((axis,angle))

-

-	# avoid trigonmetry

-def fromnormals_faster(n1,n2):

-	axis= vec3.normalize(vec3.cross(n1, n2))

-

-	half_n= vec3.normalize(vec3.add(n1, n2))

-	cos_half_angle= vec3.dot(n1, half_n)

-	sin_half_angle= 1.0 - cos_half_angle**2

-	

-	return vec3.mulN(axis, sin_half_angle) + (cos_half_angle,)

-

-def fromvectors(v1,v2):

-	return fromnormals(vec3.normalize(v1), vec3.normalize(v2))

-

-def magnitude(q):

-	return vec4.length(q)

-

-def normalize(q):

-	return vec4.divN(q, magnitude(q))

-

-def conjugate(q):

-	x,y,z,w= q

-	return (-x, -y, -z, w)

-

-def mulvec3(q, v):

-	t= mul(q, v+(0.0,))

-	t= mul(t, conjugate(q))

-	return t[:3]

-

-def mul(a, b):

-	ax,ay,az,aw= a

-	bx,by,bz,bw= b

-

-	x= aw*bx + ax*bw + ay*bz - az*by

-	y= aw*by + ay*bw + az*bx - ax*bz

-	z= aw*bz + az*bw + ax*by - ay*bx 

-	w= aw*bw - ax*bx - ay*by - az*bz

-

-	return (x,y,z,w)

-

-def toaxisangle(q):

-	tw= math.acos(q[3])

-	scale= math.sin(tw)

-	angle= tw*2.0

-

-	try:

-		axis= vec3.divN(q[:3], scale)

-	except ZeroDivisionError:

-		axis= (1.0,0.0,0.0)

-

-	return axis,angle

-

-def tomat3x3(q):

-	x,y,z,w= q

-

-	m0= (	1.0 -	2.0 * ( y*y + z*z ),

-					2.0 * ( x*y - z*w ),

-					2.0 * ( x*z + y*w ))

-	m1=	(			2.0 * ( x*y + z*w ),

-			1.0 -	2.0 * ( x*x + z*z ),

-					2.0 * ( y*z - x*w )) 

-	m2=	(			2.0 * ( x*z - y*w ),

-					2.0 * ( y*z + x*w ),

-			1.0 -	2.0 * ( x*x + y*y ))

-

-	return m0,m1,m2

-

-def tomat4x4(q):

-	m0,m1,m2= tomat3x3(q)

-	return (m0 + (0.0,),

-			m1 + (0.0,),

-			m2 + (0.0,),

-			(0.0, 0.0, 0.0, 1.0))

-

-def slerp(a, b, t):

-	raise NotImplementedError

-

-	cos_omega= vec4.dot(a, b)

-	

-	if (cos_omega<0.0):

-		cos_omega= -cos_omega

-		b= vec4.neg(b)

-

-	imega= math.acos(cos_omega)

-	t= sin(t*omega)/sin(omega)

-

-	return vec4.lerp(a, b, t)

+from __future__ import division
+
+import math
+import vec3, vec4
+
+def identity():
+	return (0.0,0.0,0.0,1.0)
+
+def fromaxisangle(axisangle):
+	axis,angle= axisangle
+	ang_2= angle/2.0
+	s_ang= math.sin(ang_2)
+	c_ang= math.cos(ang_2)
+	
+	q= vec3.mulN(axis, s_ang) + (c_ang,)
+	return normalize(q)
+
+def fromnormals(n1,n2):
+	axis,angle= vec3.normalize(vec3.cross(n1, n2)), math.acos(vec3.dot(n1, n2))
+	return fromaxisangle((axis,angle))
+
+	# avoid trigonmetry
+def fromnormals_faster(n1,n2):
+	axis= vec3.normalize(vec3.cross(n1, n2))
+
+	half_n= vec3.normalize(vec3.add(n1, n2))
+	cos_half_angle= vec3.dot(n1, half_n)
+	sin_half_angle= 1.0 - cos_half_angle**2
+	
+	return vec3.mulN(axis, sin_half_angle) + (cos_half_angle,)
+
+def fromvectors(v1,v2):
+	return fromnormals(vec3.normalize(v1), vec3.normalize(v2))
+
+def magnitude(q):
+	return vec4.length(q)
+
+def normalize(q):
+	return vec4.divN(q, magnitude(q))
+
+def conjugate(q):
+	x,y,z,w= q
+	return (-x, -y, -z, w)
+
+def mulvec3(q, v):
+	t= mul(q, v+(0.0,))
+	t= mul(t, conjugate(q))
+	return t[:3]
+
+def mul(a, b):
+	ax,ay,az,aw= a
+	bx,by,bz,bw= b
+
+	x= aw*bx + ax*bw + ay*bz - az*by
+	y= aw*by + ay*bw + az*bx - ax*bz
+	z= aw*bz + az*bw + ax*by - ay*bx 
+	w= aw*bw - ax*bx - ay*by - az*bz
+
+	return (x,y,z,w)
+
+def toaxisangle(q):
+	tw= math.acos(q[3])
+	scale= math.sin(tw)
+	angle= tw*2.0
+
+	try:
+		axis= vec3.divN(q[:3], scale)
+	except ZeroDivisionError:
+		axis= (1.0,0.0,0.0)
+
+	return axis,angle
+
+def tomat3x3(q):
+	x,y,z,w= q
+
+	m0= (	1.0 -	2.0 * ( y*y + z*z ),
+					2.0 * ( x*y - z*w ),
+					2.0 * ( x*z + y*w ))
+	m1=	(			2.0 * ( x*y + z*w ),
+			1.0 -	2.0 * ( x*x + z*z ),
+					2.0 * ( y*z - x*w )) 
+	m2=	(			2.0 * ( x*z - y*w ),
+					2.0 * ( y*z + x*w ),
+			1.0 -	2.0 * ( x*x + y*y ))
+
+	return m0,m1,m2
+
+def tomat4x4(q):
+	m0,m1,m2= tomat3x3(q)
+	return (m0 + (0.0,),
+			m1 + (0.0,),
+			m2 + (0.0,),
+			(0.0, 0.0, 0.0, 1.0))
+
+def slerp(a, b, t):
+	raise NotImplementedError
+
+	cos_omega= vec4.dot(a, b)
+	
+	if (cos_omega<0.0):
+		cos_omega= -cos_omega
+		b= vec4.neg(b)
+
+	imega= math.acos(cos_omega)
+	t= sin(t*omega)/sin(omega)
+
+	return vec4.lerp(a, b, t)