d3dx8: Implement D3DXQuaternionRotationMatrix.
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@ -50,7 +50,7 @@
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@ stdcall D3DXMatrixShadow(ptr ptr ptr)
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@ stdcall D3DXMatrixReflect(ptr ptr)
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@ stdcall D3DXQuaternionToAxisAngle(ptr ptr ptr)
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@ stub D3DXQuaternionRotationMatrix
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@ stdcall D3DXQuaternionRotationMatrix(ptr ptr)
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@ stdcall D3DXQuaternionRotationAxis(ptr ptr long)
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@ stub D3DXQuaternionRotationYawPitchRoll
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@ stdcall D3DXQuaternionMultiply(ptr ptr ptr)
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@ -655,6 +655,57 @@ D3DXQUATERNION* WINAPI D3DXQuaternionRotationAxis(D3DXQUATERNION *pout, CONST D3
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return pout;
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}
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D3DXQUATERNION* WINAPI D3DXQuaternionRotationMatrix(D3DXQUATERNION *pout, CONST D3DXMATRIX *pm)
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{
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int i, maxi;
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FLOAT maxdiag, S, trace;
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trace = pm->u.m[0][0] + pm->u.m[1][1] + pm->u.m[2][2] + 1.0f;
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if ( trace > 0.0f)
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{
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pout->x = ( pm->u.m[1][2] - pm->u.m[2][1] ) / ( 2.0f * sqrt(trace) );
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pout->y = ( pm->u.m[2][0] - pm->u.m[0][2] ) / ( 2.0f * sqrt(trace) );
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pout->z = ( pm->u.m[0][1] - pm->u.m[1][0] ) / ( 2.0f * sqrt(trace) );
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pout->w = sqrt(trace) / 2.0f;
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return pout;
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}
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maxi = 0;
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maxdiag = pm->u.m[0][0];
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for (i=1; i<3; i++)
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{
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if ( pm->u.m[i][i] > maxdiag )
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{
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maxi = i;
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maxdiag = pm->u.m[i][i];
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}
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}
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switch( maxi )
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{
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case 0:
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S = 2.0f * sqrt(1.0f + pm->u.m[0][0] - pm->u.m[1][1] - pm->u.m[2][2]);
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pout->x = 0.25f * S;
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pout->y = ( pm->u.m[0][1] + pm->u.m[1][0] ) / S;
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pout->z = ( pm->u.m[0][2] + pm->u.m[2][0] ) / S;
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pout->w = ( pm->u.m[1][2] - pm->u.m[2][1] ) / S;
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break;
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case 1:
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S = 2.0f * sqrt(1.0f + pm->u.m[1][1] - pm->u.m[0][0] - pm->u.m[2][2]);
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pout->x = ( pm->u.m[0][1] + pm->u.m[1][0] ) / S;
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pout->y = 0.25f * S;
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pout->z = ( pm->u.m[1][2] + pm->u.m[2][1] ) / S;
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pout->w = ( pm->u.m[2][0] - pm->u.m[0][2] ) / S;
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break;
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case 2:
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S = 2.0f * sqrt(1.0f + pm->u.m[2][2] - pm->u.m[0][0] - pm->u.m[1][1]);
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pout->x = ( pm->u.m[0][2] + pm->u.m[2][0] ) / S;
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pout->y = ( pm->u.m[1][2] + pm->u.m[2][1] ) / S;
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pout->z = 0.25f * S;
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pout->w = ( pm->u.m[0][1] - pm->u.m[1][0] ) / S;
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break;
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}
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return pout;
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}
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D3DXQUATERNION* WINAPI D3DXQuaternionSlerp(D3DXQUATERNION *pout, CONST D3DXQUATERNION *pq1, CONST D3DXQUATERNION *pq2, FLOAT t)
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{
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FLOAT dot, epsilon;
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@ -552,6 +552,7 @@ static void D3DXPlaneTest(void)
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static void D3X8QuaternionTest(void)
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{
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D3DXMATRIX mat;
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D3DXQUATERNION expectedquat, gotquat, Nq, nul, q, r, s, t, u;
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LPD3DXQUATERNION funcpointer;
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D3DXVECTOR3 axis, expectedvec;
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@ -668,6 +669,38 @@ static void D3X8QuaternionTest(void)
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D3DXQuaternionRotationAxis(&gotquat,&axis,angle);
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expect_vec4(expectedquat,gotquat);
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/*_______________D3DXQuaternionRotationMatrix___________________*/
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/* test when the trace is >0 */
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U(mat).m[0][1] = 5.0f; U(mat).m[0][2] = 7.0f; U(mat).m[0][3] = 8.0f;
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U(mat).m[1][0] = 11.0f; U(mat).m[1][2] = 16.0f; U(mat).m[1][3] = 33.0f;
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U(mat).m[2][0] = 19.0f; U(mat).m[2][1] = -21.0f; U(mat).m[2][3] = 43.0f;
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U(mat).m[3][0] = 2.0f; U(mat).m[3][1] = 3.0f; U(mat).m[3][2] = -4.0f;
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U(mat).m[0][0] = 10.0f; U(mat).m[1][1] = 20.0f; U(mat).m[2][2] = 30.0f;
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U(mat).m[3][3] = 48.0f;
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expectedquat.x = 2.368682f; expectedquat.y = 0.768221f; expectedquat.z = -0.384111f; expectedquat.w = 3.905125f;
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D3DXQuaternionRotationMatrix(&gotquat,&mat);
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expect_vec4(expectedquat,gotquat);
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/* test the case when the greater element is (2,2) */
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U(mat).m[0][1] = 5.0f; U(mat).m[0][2] = 7.0f; U(mat).m[0][3] = 8.0f;
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U(mat).m[1][0] = 11.0f; U(mat).m[1][2] = 16.0f; U(mat).m[1][3] = 33.0f;
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U(mat).m[2][0] = 19.0f; U(mat).m[2][1] = -21.0f; U(mat).m[2][3] = 43.0f;
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U(mat).m[3][0] = 2.0f; U(mat).m[3][1] = 3.0f; U(mat).m[3][2] = -4.0f;
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U(mat).m[0][0] = -10.0f; U(mat).m[1][1] = -60.0f; U(mat).m[2][2] = 40.0f;
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U(mat).m[3][3] = 48.0f;
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expectedquat.x = 1.233905f; expectedquat.y = -0.237290f; expectedquat.z = 5.267827f; expectedquat.w = -0.284747f;
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D3DXQuaternionRotationMatrix(&gotquat,&mat);
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expect_vec4(expectedquat,gotquat);
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/* test the case when the greater element is (1,1) */
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U(mat).m[0][1] = 5.0f; U(mat).m[0][2] = 7.0f; U(mat).m[0][3] = 8.0f;
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U(mat).m[1][0] = 11.0f; U(mat).m[1][2] = 16.0f; U(mat).m[1][3] = 33.0f;
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U(mat).m[2][0] = 19.0f; U(mat).m[2][1] = -21.0f; U(mat).m[2][3] = 43.0f;
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U(mat).m[3][0] = 2.0f; U(mat).m[3][1] = 3.0f; U(mat).m[3][2] = -4.0f;
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U(mat).m[0][0] = -10.0f; U(mat).m[1][1] = 60.0f; U(mat).m[2][2] = -80.0f;
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U(mat).m[3][3] = 48.0f;
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expectedquat.x = 0.651031f; expectedquat.y = 6.144103f; expectedquat.z = -0.203447f; expectedquat.w = 0.488273f;
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D3DXQuaternionRotationMatrix(&gotquat,&mat);
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expect_vec4(expectedquat,gotquat);
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/*_______________D3DXQuaternionSlerp________________________*/
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expectedquat.x = -0.2f; expectedquat.y = 2.6f; expectedquat.z = 1.3f; expectedquat.w = 9.1f;
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D3DXQuaternionSlerp(&gotquat,&q,&r,scale);
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@ -307,6 +307,7 @@ D3DXQUATERNION* WINAPI D3DXQuaternionInverse(D3DXQUATERNION *pout, CONST D3DXQUA
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D3DXQUATERNION* WINAPI D3DXQuaternionMultiply(D3DXQUATERNION *pout, CONST D3DXQUATERNION *pq1, CONST D3DXQUATERNION *pq2);
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D3DXQUATERNION* WINAPI D3DXQuaternionNormalize(D3DXQUATERNION *pout, CONST D3DXQUATERNION *pq);
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D3DXQUATERNION* WINAPI D3DXQuaternionRotationAxis(D3DXQUATERNION *pout, CONST D3DXVECTOR3 *pv, FLOAT angle);
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D3DXQUATERNION* WINAPI D3DXQuaternionRotationMatrix(D3DXQUATERNION *pout, CONST D3DXMATRIX *pm);
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D3DXQUATERNION* WINAPI D3DXQuaternionSlerp(D3DXQUATERNION *pout, CONST D3DXQUATERNION *pq1, CONST D3DXQUATERNION *pq2, FLOAT t);
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D3DXQUATERNION* WINAPI D3DXQuaternionSquad(D3DXQUATERNION *pout, CONST D3DXQUATERNION *pq1, CONST D3DXQUATERNION *pq2, CONST D3DXQUATERNION *pq3, CONST D3DXQUATERNION *pq4, FLOAT t);
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void WINAPI D3DXQuaternionToAxisAngle(CONST D3DXQUATERNION *pq, D3DXVECTOR3 *paxis, FLOAT *pangle);
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