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diff --git a/14/renderscript/include/rs_quaternion.rsh b/14/renderscript/include/rs_quaternion.rsh
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-/*
- * Copyright (C) 2011 The Android Open Source Project
- *
- * Licensed under the Apache License, Version 2.0 (the "License");
- * you may not use this file except in compliance with the License.
- * You may obtain a copy of the License at
- *
- * http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
- */
-
-/** @file rs_quaternion.rsh
- * \brief Quaternion routines
- *
- *
- */
-
-#ifndef __RS_QUATERNION_RSH__
-#define __RS_QUATERNION_RSH__
-
-
-/**
- * Set the quaternion components
- * @param w component
- * @param x component
- * @param y component
- * @param z component
- */
-static void __attribute__((overloadable))
-rsQuaternionSet(rs_quaternion *q, float w, float x, float y, float z) {
- q->w = w;
- q->x = x;
- q->y = y;
- q->z = z;
-}
-
-/**
- * Set the quaternion from another quaternion
- * @param q destination quaternion
- * @param rhs source quaternion
- */
-static void __attribute__((overloadable))
-rsQuaternionSet(rs_quaternion *q, const rs_quaternion *rhs) {
- q->w = rhs->w;
- q->x = rhs->x;
- q->y = rhs->y;
- q->z = rhs->z;
-}
-
-/**
- * Multiply quaternion by a scalar
- * @param q quaternion to multiply
- * @param s scalar
- */
-static void __attribute__((overloadable))
-rsQuaternionMultiply(rs_quaternion *q, float s) {
- q->w *= s;
- q->x *= s;
- q->y *= s;
- q->z *= s;
-}
-
-/**
- * Multiply quaternion by another quaternion
- * @param q destination quaternion
- * @param rhs right hand side quaternion to multiply by
- */
-static void __attribute__((overloadable))
-rsQuaternionMultiply(rs_quaternion *q, const rs_quaternion *rhs) {
- q->w = -q->x*rhs->x - q->y*rhs->y - q->z*rhs->z + q->w*rhs->w;
- q->x = q->x*rhs->w + q->y*rhs->z - q->z*rhs->y + q->w*rhs->x;
- q->y = -q->x*rhs->z + q->y*rhs->w + q->z*rhs->x + q->w*rhs->y;
- q->z = q->x*rhs->y - q->y*rhs->x + q->z*rhs->w + q->w*rhs->z;
-}
-
-/**
- * Add two quaternions
- * @param q destination quaternion to add to
- * @param rsh right hand side quaternion to add
- */
-static void
-rsQuaternionAdd(rs_quaternion *q, const rs_quaternion *rhs) {
- q->w *= rhs->w;
- q->x *= rhs->x;
- q->y *= rhs->y;
- q->z *= rhs->z;
-}
-
-/**
- * Loads a quaternion that represents a rotation about an arbitrary unit vector
- * @param q quaternion to set
- * @param rot angle to rotate by
- * @param x component of a vector
- * @param y component of a vector
- * @param x component of a vector
- */
-static void
-rsQuaternionLoadRotateUnit(rs_quaternion *q, float rot, float x, float y, float z) {
- rot *= (float)(M_PI / 180.0f) * 0.5f;
- float c = cos(rot);
- float s = sin(rot);
-
- q->w = c;
- q->x = x * s;
- q->y = y * s;
- q->z = z * s;
-}
-
-/**
- * Loads a quaternion that represents a rotation about an arbitrary vector
- * (doesn't have to be unit)
- * @param q quaternion to set
- * @param rot angle to rotate by
- * @param x component of a vector
- * @param y component of a vector
- * @param x component of a vector
- */
-static void
-rsQuaternionLoadRotate(rs_quaternion *q, float rot, float x, float y, float z) {
- const float len = x*x + y*y + z*z;
- if (len != 1) {
- const float recipLen = 1.f / sqrt(len);
- x *= recipLen;
- y *= recipLen;
- z *= recipLen;
- }
- rsQuaternionLoadRotateUnit(q, rot, x, y, z);
-}
-
-/**
- * Conjugates the quaternion
- * @param q quaternion to conjugate
- */
-static void
-rsQuaternionConjugate(rs_quaternion *q) {
- q->x = -q->x;
- q->y = -q->y;
- q->z = -q->z;
-}
-
-/**
- * Dot product of two quaternions
- * @param q0 first quaternion
- * @param q1 second quaternion
- * @return dot product between q0 and q1
- */
-static float
-rsQuaternionDot(const rs_quaternion *q0, const rs_quaternion *q1) {
- return q0->w*q1->w + q0->x*q1->x + q0->y*q1->y + q0->z*q1->z;
-}
-
-/**
- * Normalizes the quaternion
- * @param q quaternion to normalize
- */
-static void
-rsQuaternionNormalize(rs_quaternion *q) {
- const float len = rsQuaternionDot(q, q);
- if (len != 1) {
- const float recipLen = 1.f / sqrt(len);
- rsQuaternionMultiply(q, recipLen);
- }
-}
-
-/**
- * Performs spherical linear interpolation between two quaternions
- * @param q result quaternion from interpolation
- * @param q0 first param
- * @param q1 second param
- * @param t how much to interpolate by
- */
-static void
-rsQuaternionSlerp(rs_quaternion *q, const rs_quaternion *q0, const rs_quaternion *q1, float t) {
- if (t <= 0.0f) {
- rsQuaternionSet(q, q0);
- return;
- }
- if (t >= 1.0f) {
- rsQuaternionSet(q, q1);
- return;
- }
-
- rs_quaternion tempq0, tempq1;
- rsQuaternionSet(&tempq0, q0);
- rsQuaternionSet(&tempq1, q1);
-
- float angle = rsQuaternionDot(q0, q1);
- if (angle < 0) {
- rsQuaternionMultiply(&tempq0, -1.0f);
- angle *= -1.0f;
- }
-
- float scale, invScale;
- if (angle + 1.0f > 0.05f) {
- if (1.0f - angle >= 0.05f) {
- float theta = acos(angle);
- float invSinTheta = 1.0f / sin(theta);
- scale = sin(theta * (1.0f - t)) * invSinTheta;
- invScale = sin(theta * t) * invSinTheta;
- } else {
- scale = 1.0f - t;
- invScale = t;
- }
- } else {
- rsQuaternionSet(&tempq1, tempq0.z, -tempq0.y, tempq0.x, -tempq0.w);
- scale = sin(M_PI * (0.5f - t));
- invScale = sin(M_PI * t);
- }
-
- rsQuaternionSet(q, tempq0.w*scale + tempq1.w*invScale, tempq0.x*scale + tempq1.x*invScale,
- tempq0.y*scale + tempq1.y*invScale, tempq0.z*scale + tempq1.z*invScale);
-}
-
-/**
- * Computes rotation matrix from the normalized quaternion
- * @param m resulting matrix
- * @param p normalized quaternion
- */
-static void rsQuaternionGetMatrixUnit(rs_matrix4x4 *m, const rs_quaternion *q) {
- float x2 = 2.0f * q->x * q->x;
- float y2 = 2.0f * q->y * q->y;
- float z2 = 2.0f * q->z * q->z;
- float xy = 2.0f * q->x * q->y;
- float wz = 2.0f * q->w * q->z;
- float xz = 2.0f * q->x * q->z;
- float wy = 2.0f * q->w * q->y;
- float wx = 2.0f * q->w * q->x;
- float yz = 2.0f * q->y * q->z;
-
- m->m[0] = 1.0f - y2 - z2;
- m->m[1] = xy - wz;
- m->m[2] = xz + wy;
- m->m[3] = 0.0f;
-
- m->m[4] = xy + wz;
- m->m[5] = 1.0f - x2 - z2;
- m->m[6] = yz - wx;
- m->m[7] = 0.0f;
-
- m->m[8] = xz - wy;
- m->m[9] = yz - wx;
- m->m[10] = 1.0f - x2 - y2;
- m->m[11] = 0.0f;
-
- m->m[12] = 0.0f;
- m->m[13] = 0.0f;
- m->m[14] = 0.0f;
- m->m[15] = 1.0f;
-}
-
-#endif
-
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