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| 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) |