Add charles' camfind (DOES NOT WORK!!!)

1 files changed, 326 insertions, 0 deletions

diff --git a/tools/planetest/linmath.c b/tools/planetest/linmath.c
new file mode 100644
index 0000000..dec8c70
--- /dev/null
+++ b/tools/planetest/linmath.c
@@ -0,0 +1,326 @@
+//Copyright 2013 <>< C. N. Lohr.  This file licensed under the terms of the MIT license.
+
+#include "linmath.h"
+#include <math.h>
+
+void cross3d( float * out, const float * a, const float * b )
+{
+	out[0] = a[1]*b[2] - a[2]*b[1];
+	out[1] = a[2]*b[0] - a[0]*b[2];
+	out[2] = a[0]*b[1] - a[1]*b[0];
+}
+
+void sub3d( float * out, const float * a, const float * b )
+{
+	out[0] = a[0] - b[0];
+	out[1] = a[1] - b[1];
+	out[2] = a[2] - b[2];
+}
+
+void add3d( float * out, const float * a, const float * b )
+{
+	out[0] = a[0] + b[0];
+	out[1] = a[1] + b[1];
+	out[2] = a[2] + b[2];
+}
+
+void scale3d( float * out, const float * a, float scalar )
+{
+	out[0] = a[0] * scalar;
+	out[1] = a[1] * scalar;
+	out[2] = a[2] * scalar;
+}
+
+void normalize3d( float * out, const float * in )
+{
+	float r = 1./sqrtf( in[0] * in[0] + in[1] * in[1] + in[2] * in[2] );
+	out[0] = in[0] * r;
+	out[1] = in[1] * r;
+	out[2] = in[2] * r;
+}
+
+float dot3d( const float * a, const float * b )
+{
+	return a[0] * b[0] + a[1] * b[1] + a[2] * b[2];
+}
+
+int compare3d( const float * a, const float * b, float epsilon )
+{
+	if( !a || !b ) return 0;
+	if( a[2] - b[2] > epsilon ) return 1;
+	if( b[2] - a[2] > epsilon ) return -1;
+	if( a[1] - b[1] > epsilon ) return 1;
+	if( b[1] - a[1] > epsilon ) return -1;
+	if( a[0] - b[0] > epsilon ) return 1;
+	if( b[0] - a[0] > epsilon ) return -1;
+	return 0;
+}
+
+void copy3d( float * out, const float * in )
+{
+	out[0] = in[0];
+	out[1] = in[1];
+	out[2] = in[2];
+}
+
+
+
+/////////////////////////////////////QUATERNIONS//////////////////////////////////////////
+//Originally from Mercury (Copyright (C) 2009 by Joshua Allen, Charles Lohr, Adam Lowman)
+//Under the mit/X11 license.
+
+
+
+
+void quatsetnone( float * q )
+{
+	q[0] = 0; q[1] = 0; q[2] = 0; q[3] = 1;
+}
+
+void quatcopy( float * qout, const float * qin )
+{
+	qout[0] = qin[0];
+	qout[1] = qin[1];
+	qout[2] = qin[2];
+	qout[3] = qin[3];
+}
+
+void quatfromeuler( float * q, const float * euler )
+{
+	float X = euler[0]/2.0f; //roll
+	float Y = euler[1]/2.0f; //pitch
+	float Z = euler[2]/2.0f; //yaw
+
+	float cx = cosf(X);
+	float sx = sinf(X);
+	float cy = cosf(Y);
+	float sy = sinf(Y);
+	float cz = cosf(Z);
+	float sz = sinf(Z);
+
+	//Correct according to
+	//http://en.wikipedia.org/wiki/Conversion_between_MQuaternions_and_Euler_angles
+	q[0] = cx*cy*cz+sx*sy*sz;//q1
+	q[1] = sx*cy*cz-cx*sy*sz;//q2
+	q[2] = cx*sy*cz+sx*cy*sz;//q3
+	q[3] = cx*cy*sz-sx*sy*cz;//q4
+	quatnormalize( q, q );
+}
+
+void quattoeuler( float * euler, const float * q )
+{
+	//According to http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles (Oct 26, 2009)
+	euler[0] = atan2( 2 * (q[0]*q[1] + q[2]*q[3]), 1 - 2 * (q[1]*q[1] + q[2]*q[2] ) );
+	euler[1] = asin( 2 * (q[0] *q[2] - q[3]*q[1] ) );
+	euler[2] = atan2( 2 * (q[0]*q[3] + q[1]*q[2]), 1 - 2 * (q[2]*q[2] + q[3]*q[3] ) );
+}
+
+void quatfromaxisangle( float * q, const float * axis, float radians )
+{
+	float v[3];
+	normalize3d( v, axis );
+	
+	float sn = sin(radians/2.0f);
+	q[0] = cos(radians/2.0f);
+	q[1] = sn * v[0];
+	q[2] = sn * v[1];
+	q[3] = sn * v[2];
+
+	quatnormalize( q, q );
+}
+
+float quatmagnitude( const float * q )
+{
+	return sqrt((q[0]*q[0])+(q[1]*q[1])+(q[2]*q[2])+(q[3]*q[3]));
+}
+
+float quatinvsqmagnitude( const float * q )
+{
+	return 1./((q[0]*q[0])+(q[1]*q[1])+(q[2]*q[2])+(q[3]*q[3]));
+}
+
+
+void quatnormalize( float * qout, const float * qin )
+{
+	float imag = quatinvsqmagnitude( qin );
+	quatscale( qout, qin, imag );
+}
+
+void quattomatrix( float * matrix44, const float * qin )
+{
+	float q[4];
+	quatnormalize( q, qin );
+	
+	//Reduced calulation for speed
+	float xx = 2*q[0]*q[0];
+	float xy = 2*q[0]*q[1];
+	float xz = 2*q[0]*q[2];
+	float xw = 2*q[0]*q[3];
+	
+	float yy = 2*q[1]*q[1];
+	float yz = 2*q[1]*q[2];
+	float yw = 2*q[1]*q[3];
+	
+	float zz = 2*q[2]*q[2];
+	float zw = 2*q[2]*q[3];
+
+	//opengl major
+	matrix44[0] = 1-yy-zz;
+	matrix44[1] = xy-zw;
+	matrix44[2] = xz+yw;
+	matrix44[3] = 0;
+
+	matrix44[4] = xy+zw;
+	matrix44[5] = 1-xx-zz;
+	matrix44[6] = yz-xw;
+	matrix44[7] = 0;
+
+	matrix44[8] = xz-yw;
+	matrix44[9] = yz+xw;
+	matrix44[10] = 1-xx-yy;
+	matrix44[11] = 0;
+
+	matrix44[12] = 0;
+	matrix44[13] = 0;
+	matrix44[14] = 0;
+	matrix44[15] = 1;
+}
+
+void quatgetconjugate( float * qout, const float * qin )
+{
+	qout[0] = qin[0];
+	qout[1] = -qin[1];
+	qout[2] = -qin[2];
+	qout[3] = -qin[3];
+}
+
+void quatgetreciprocal( float * qout, const float * qin )
+{
+	float m = quatinvsqmagnitude(qin);
+	quatgetconjugate( qout, qin );
+	quatscale( qout, qout, m );
+}
+
+void quatsub( float * qout, const float * a, const float * b )
+{
+	qout[0] = a[0] - b[0];
+	qout[1] = a[1] - b[1];
+	qout[2] = a[2] - b[2];
+	qout[3] = a[3] - b[3];
+}
+
+void quatadd( float * qout, const float * a, const float * b )
+{
+	qout[0] = a[0] + b[0];
+	qout[1] = a[1] + b[1];
+	qout[2] = a[2] + b[2];
+	qout[3] = a[3] + b[3];
+}
+
+void quatrotateabout( float * qout, const float * a, const float * b )
+{
+	float q1[4];
+	float q2[4];
+
+	quatnormalize( q1, a );
+	quatnormalize( q2, b );
+
+	qout[0] = (q1[0]*q2[0])-(q1[1]*q2[1])-(q1[2]*q2[2])-(q1[3]*q2[3]);
+	qout[1] = (q1[0]*q2[1])+(q1[1]*q2[0])+(q1[2]*q2[3])-(q1[3]*q2[2]);
+	qout[2] = (q1[0]*q2[2])-(q1[1]*q2[3])+(q1[2]*q2[0])+(q1[3]*q2[1]);
+	qout[3] = (q1[0]*q2[3])+(q1[1]*q2[2])-(q1[2]*q2[1])+(q1[3]*q2[0]);
+}
+
+void quatscale( float * qout, const float * qin, float s )
+{
+	qout[0] = qin[0] * s;
+	qout[1] = qin[1] * s;
+	qout[2] = qin[2] * s;
+	qout[3] = qin[3] * s;
+}
+
+
+float quatinnerproduct( const float * qa, const float * qb )
+{
+	return (qa[0]*qb[0])+(qa[1]*qb[1])+(qa[2]*qb[2])+(qa[3]*qb[3]);
+}
+
+void quatouterproduct( float * outvec3, float * qa, float * qb )
+{
+	outvec3[0] = (qa[0]*qb[1])-(qa[1]*qb[0])-(qa[2]*qb[3])+(qa[3]*qb[2]);
+	outvec3[1] = (qa[0]*qb[2])+(qa[1]*qb[3])-(qa[2]*qb[0])-(qa[3]*qb[1]);
+	outvec3[2] = (qa[0]*qb[3])-(qa[1]*qb[2])+(qa[2]*qb[1])-(qa[3]*qb[0]);
+}
+
+void quatevenproduct( float * q, float * qa, float * qb )
+{
+	q[0] = (qa[0]*qb[0])-(qa[1]*qb[1])-(qa[2]*qb[2])-(qa[3]*qb[3]);
+	q[1] = (qa[0]*qb[1])+(qa[1]*qb[0]);
+	q[2] = (qa[0]*qb[2])+(qa[2]*qb[0]);
+	q[3] = (qa[0]*qb[3])+(qa[3]*qb[0]);
+}
+
+void quatoddproduct( float * outvec3, float * qa, float * qb )
+{
+	outvec3[0] = (qa[2]*qb[3])-(qa[3]*qb[2]);
+	outvec3[1] = (qa[3]*qb[1])-(qa[1]*qb[3]);
+	outvec3[2] = (qa[1]*qb[2])-(qa[2]*qb[1]);
+}
+
+void quatslerp( float * q, const float * qa, const float * qb, float t )
+{
+	float an[4];
+	float bn[4];
+	quatnormalize( an, qa );
+	quatnormalize( bn, qb );
+	float cosTheta = quatinnerproduct(an,bn);
+	float sinTheta;
+
+	//Careful: If cosTheta is exactly one, or even if it's infinitesimally over, it'll
+	// cause SQRT to produce not a number, and screw everything up.
+	if ( 1 - (cosTheta*cosTheta) <= 0 )
+		sinTheta = 0;
+	else
+		sinTheta = sqrt(1 - (cosTheta*cosTheta));
+
+	float Theta = acos(cosTheta); //Theta is half the angle between the 2 MQuaternions
+
+	if(fabs(Theta) < DEFAULT_EPSILON )
+		quatcopy( q, qa );
+	else if(fabs(sinTheta) < DEFAULT_EPSILON )
+	{
+		quatadd( q, qa, qb );
+		quatscale( q, q, 0.5 );
+	}
+	else
+	{
+		float aside[4];
+		float bside[4];
+		quatscale( bside, qb, sin( t * Theta ) );
+		quatscale( aside, qa, sin((1-t)*Theta) );
+		quatadd( q, aside, bside );
+		quatscale( q, q, 1./sinTheta );
+	}
+}
+
+void quatrotatevector( float * vec3out, const float * quat, const float * vec3in )
+{
+	float tquat[4];
+	float vquat[4];
+	float qrecp[4];
+	vquat[0] = 0;
+	vquat[1] = vec3in[0];
+	vquat[2] = vec3in[1];
+	vquat[3] = vec3in[2];
+
+	quatrotateabout( tquat, quat, vquat );
+	quatgetreciprocal( qrecp, quat );
+	quatrotateabout( vquat, tquat, qrecp );
+
+	vec3out[0] = vquat[1];
+	vec3out[1] = vquat[2];
+	vec3out[2] = vquat[3];
+}
+
+
+