diff options
| author | Daniel Dunbar <daniel@zuster.org> | 2010-05-02 17:59:13 +0000 |
|---|---|---|
| committer | Daniel Dunbar <daniel@zuster.org> | 2010-05-02 17:59:13 +0000 |
| commit | f4cdc443fb86f715ab93f3528aff23452a5bb3a3 (patch) | |
| tree | ffab5077611d32a8b95c9d9b4f96b47703190e82 /utils/hacks/TreeGraphs/Graphics/Geometry/quat.py | |
| parent | bae2fa50234b0a575a18a119019e5d96f7ff7ecf (diff) | |
| download | klee-f4cdc443fb86f715ab93f3528aff23452a5bb3a3.tar.gz | |
Add a little hack for visualizing KLEE branching.
- This consumes the treestream files produced with --write-paths or
--write-sym-paths, and renders out the tree in a very ad-hoc funky way.
Your mileage may vary! :)
Example image: http://klee.llvm.org/data/treegraph_example.jpg
Example movie: http://klee.llvm.org/data/treegraph_example.avi
git-svn-id: https://llvm.org/svn/llvm-project/klee/trunk@102869 91177308-0d34-0410-b5e6-96231b3b80d8
Diffstat (limited to 'utils/hacks/TreeGraphs/Graphics/Geometry/quat.py')
| -rw-r--r-- | utils/hacks/TreeGraphs/Graphics/Geometry/quat.py | 107 |
1 files changed, 107 insertions, 0 deletions
diff --git a/utils/hacks/TreeGraphs/Graphics/Geometry/quat.py b/utils/hacks/TreeGraphs/Graphics/Geometry/quat.py new file mode 100644 index 00000000..f7837891 --- /dev/null +++ b/utils/hacks/TreeGraphs/Graphics/Geometry/quat.py @@ -0,0 +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)
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