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add 3x3 rotation matrix to quaternion function #265

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add 3x3 rotation matrix to quaternion function #265

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34 changes: 34 additions & 0 deletions common/doubles_floats_impl.h
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Original file line number Diff line number Diff line change
Expand Up @@ -453,6 +453,40 @@ static inline void TFN(s_mat_to_xyz)(const TNAME M[16], TNAME xyz[3])
xyz[2] = M[11];
}

static inline void TFN(s_mat33_to_quat)(const TNAME M[9], TNAME q[4])
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Maybe call this function "rot_mat_to_quat"? "mat33" sounds as if it accepts any 3x3 matrix. Do you think we need to check that the matrix provided is actually a rotation matrix?

{
double T = M[0] + M[4] + M[8] + 1.0;
double S;

if (T > 0.0000001) {
S = sqrt(T) * 2;
q[0] = (TNAME)(0.25 * S);
q[1] = (TNAME)((M[7] - M[5]) / S);
q[2] = (TNAME)((M[2] - M[6]) / S);
q[3] = (TNAME)((M[3] - M[1]) / S);
} else if (M[0] > M[4] && M[0] > M[8]) { // Column 0:
S = sqrt(1.0 + M[0] - M[4] - M[8]) * 2;
q[0] = (TNAME)((M[7] - M[5]) / S);
q[1] = (TNAME)(0.25 * S);
q[2] = (TNAME)((M[3] + M[1]) / S);
q[3] = (TNAME)((M[2] + M[6]) / S);
} else if (M[4] > M[8]) { // Column 1:
S = sqrt(1.0 + M[4] - M[0] - M[8]) * 2;
q[0] = (TNAME)((M[2] - M[6]) / S);
q[1] = (TNAME)((M[3] + M[1]) / S);
q[2] = (TNAME)(0.25 * S);
q[3] = (TNAME)((M[7] + M[5]) / S);
} else { // Column 2:
S = sqrt(1.0 + M[8] - M[0] - M[4]);
q[0] = (TNAME)((M[3] - M[1]) / S);
q[1] = (TNAME)((M[2] + M[6]) / S);
q[2] = (TNAME)((M[7] + M[5]) / S);
q[3] = (TNAME)(0.25 * S);
}
Comment on lines +461 to +485
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Let's try to avoid code duplication with mat_to_quat here. Either have mat_to_quat reuse this very function with a submatrix (the best option IMHO) or extend the 3x3 rotation to 4x4 transformation matrix and reuse mat_to_quat here.


TFN(s_normalize)(q, 4, q);
}

static inline void TFN(s_mat_to_quat)(const TNAME M[16], TNAME q[4])
{
double T = M[0] + M[5] + M[10] + 1.0;
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