KiCad PCB EDA Suite
trackball.cpp File Reference
#include <cmath>
#include <trackball.h>

Go to the source code of this file.

Macros

#define TRACKBALLSIZE   (0.8f)
 
#define RENORMCOUNT   97
 

Functions

static double tb_project_to_sphere (double, double, double)
 
static void normalize_quat (double[4])
 
void vzero (double *v)
 
void vset (double *v, double x, double y, double z)
 
void vsub (const double *src1, const double *src2, double *dst)
 
void vcopy (const double *v1, double *v2)
 
void vcross (const double *v1, const double *v2, double *cross)
 
double vlength (const double *v)
 
void vscale (double *v, double div)
 
void vnormal (double *v)
 
double vdot (const double *v1, const double *v2)
 
void vadd (const double *src1, const double *src2, double *dst)
 
void trackball (double q[4], double p1x, double p1y, double p2x, double p2y)
 
void axis_to_quat (double a[3], double phi, double q[4])
 
void add_quats (double q1[4], double q2[4], double dest[4])
 
void build_rotmatrix (float m[4][4], double q[4])
 

Macro Definition Documentation

◆ RENORMCOUNT

#define RENORMCOUNT   97

Definition at line 247 of file trackball.cpp.

◆ TRACKBALLSIZE

#define TRACKBALLSIZE   (0.8f)

Definition at line 67 of file trackball.cpp.

Function Documentation

◆ add_quats()

void add_quats ( double  q1[4],
double  q2[4],
double  dest[4] 
)

Definition at line 249 of file trackball.cpp.

250{
251 static int count=0;
252 double t1[4], t2[4], t3[4];
253 double tf[4];
254
255 vcopy( q1, t1 );
256 vscale( t1, q2[3] );
257
258 vcopy( q2, t2 );
259 vscale( t2, q1[3] );
260
261 vcross( q2, q1, t3 );
262 vadd( t1, t2, tf );
263 vadd( t3, tf, tf );
264
265 tf[3] = q1[3] * q2[3] - vdot( q1, q2 );
266
267 dest[0] = tf[0];
268 dest[1] = tf[1];
269 dest[2] = tf[2];
270 dest[3] = tf[3];
271
272 if( ++count > RENORMCOUNT )
273 {
274 count = 0;
275 normalize_quat( dest );
276 }
277}
void vcross(const double *v1, const double *v2, double *cross)
Definition: trackball.cpp:104
void vscale(double *v, double div)
Definition: trackball.cpp:119
double vdot(const double *v1, const double *v2)
Definition: trackball.cpp:131
static void normalize_quat(double[4])
Definition: trackball.cpp:291
#define RENORMCOUNT
Definition: trackball.cpp:247
void vcopy(const double *v1, double *v2)
Definition: trackball.cpp:96
void vadd(const double *src1, const double *src2, double *dst)
Definition: trackball.cpp:136

References normalize_quat(), RENORMCOUNT, vadd(), vcopy(), vcross(), vdot(), and vscale().

◆ axis_to_quat()

void axis_to_quat ( double  a[3],
double  phi,
double  q[4] 
)

Definition at line 205 of file trackball.cpp.

206{
207 vnormal( a );
208 vcopy( a, q );
209 vscale( q, (double) sin( phi / 2.0) );
210 q[3] = (double) cos( phi / 2.0 );
211}
void vnormal(double *v)
Definition: trackball.cpp:126

References vcopy(), vnormal(), and vscale().

Referenced by trackball().

◆ build_rotmatrix()

void build_rotmatrix ( float  m[4][4],
double  q[4] 
)

Definition at line 306 of file trackball.cpp.

307{
308 m[0][0] = (float)(1.0 - 2.0 * (q[1] * q[1] + q[2] * q[2]));
309 m[0][1] = (float)(2.0 * (q[0] * q[1] - q[2] * q[3]));
310 m[0][2] = (float)(2.0 * (q[2] * q[0] + q[1] * q[3]));
311 m[0][3] = 0.0f;
312
313 m[1][0] = (float)(2.0 * (q[0] * q[1] + q[2] * q[3]));
314 m[1][1] = (float)(1.0 - 2.0f * (q[2] * q[2] + q[0] * q[0]));
315 m[1][2] = (float)(2.0 * (q[1] * q[2] - q[0] * q[3]));
316 m[1][3] = 0.0f;
317
318 m[2][0] = (float)(2.0 * (q[2] * q[0] - q[1] * q[3]));
319 m[2][1] = (float)(2.0 * (q[1] * q[2] + q[0] * q[3]));
320 m[2][2] = (float)(1.0 - 2.0 * (q[1] * q[1] + q[0] * q[0]));
321 m[2][3] = 0.0f;
322
323 m[3][0] = 0.0f;
324 m[3][1] = 0.0f;
325 m[3][2] = 0.0f;
326 m[3][3] = 1.0f;
327}

Referenced by TRACK_BALL::Drag(), and TRACK_BALL::Interpolate().

◆ normalize_quat()

static void normalize_quat ( double  q[4])
static

Definition at line 291 of file trackball.cpp.

292{
293 int i;
294 double mag;
295
296 mag = (q[0]*q[0] + q[1]*q[1] + q[2]*q[2] + q[3]*q[3]);
297
298 for( i = 0; i < 4; i++ )
299 q[i] /= mag;
300}

Referenced by add_quats().

◆ tb_project_to_sphere()

static double tb_project_to_sphere ( double  r,
double  x,
double  y 
)
static

Definition at line 217 of file trackball.cpp.

218{
219 double d, z;
220
221 d = (double) sqrt( x*x + y*y );
222
223 if( d < r * 0.70710678118654752440 )
224 { /* Inside sphere */
225 z = (double) sqrt( r*r - d*d );
226 }
227 else
228 { /* On hyperbola */
229 const double t = r / 1.41421356237309504880f;
230 z = t*t / d;
231 }
232
233 return z;
234}

Referenced by trackball().

◆ trackball()

void trackball ( double  q[4],
double  p1x,
double  p1y,
double  p2x,
double  p2y 
)

Definition at line 155 of file trackball.cpp.

156{
157 double a[3]; /* Axis of rotation */
158 double phi; /* how much to rotate about axis */
159 double p1[3], p2[3], d[3];
160 double t;
161
162 if( p1x == p2x && p1y == p2y )
163 {
164 /* Zero rotation */
165 vzero( q );
166 q[3] = 1.0;
167 return;
168 }
169
170 /*
171 * First, figure out z-coordinates for projection of P1 and P2 to
172 * deformed sphere
173 */
174 vset( p1, p1x, p1y, tb_project_to_sphere( TRACKBALLSIZE, p1x, p1y ) );
175 vset( p2, p2x, p2y, tb_project_to_sphere( TRACKBALLSIZE, p2x, p2y ) );
176
177 /*
178 * Now, we want the cross product of P1 and P2
179 */
180 vcross(p2,p1,a);
181
182 /*
183 * Figure out how much to rotate around that axis.
184 */
185 vsub( p1, p2, d );
186 t = vlength( d ) / (2.0f * TRACKBALLSIZE);
187
188 /*
189 * Avoid problems with out-of-control values...
190 */
191 if( t > 1.0 )
192 t = 1.0;
193
194 if( t < -1.0 )
195 t = -1.0;
196
197 phi = 2.0f * (double) asin( t );
198
199 axis_to_quat( a, phi, q );
200}
void vzero(double *v)
Definition: trackball.cpp:75
void axis_to_quat(double a[3], double phi, double q[4])
Definition: trackball.cpp:205
#define TRACKBALLSIZE
Definition: trackball.cpp:67
void vset(double *v, double x, double y, double z)
Definition: trackball.cpp:82
double vlength(const double *v)
Definition: trackball.cpp:114
void vsub(const double *src1, const double *src2, double *dst)
Definition: trackball.cpp:89
static double tb_project_to_sphere(double, double, double)
Definition: trackball.cpp:217

References axis_to_quat(), tb_project_to_sphere(), TRACKBALLSIZE, vcross(), vlength(), vset(), vsub(), and vzero().

Referenced by TRACK_BALL::Drag(), TRACK_BALL::Reset_T1(), and TRACK_BALL::TRACK_BALL().

◆ vadd()

void vadd ( const double *  src1,
const double *  src2,
double *  dst 
)

Definition at line 136 of file trackball.cpp.

137{
138 dst[0] = src1[0] + src2[0];
139 dst[1] = src1[1] + src2[1];
140 dst[2] = src1[2] + src2[2];
141}

Referenced by add_quats().

◆ vcopy()

void vcopy ( const double *  v1,
double *  v2 
)

Definition at line 96 of file trackball.cpp.

97{
98 int i;
99
100 for( i = 0 ; i < 3 ; i++ )
101 v2[i] = v1[i];
102}
VECTOR3I v1(5, 5, 5)
VECTOR2I v2(1, 0)
Test suite for KiCad math code.

References v1, and v2.

Referenced by add_quats(), axis_to_quat(), and vcross().

◆ vcross()

void vcross ( const double *  v1,
const double *  v2,
double *  cross 
)

Definition at line 104 of file trackball.cpp.

105{
106 double temp[3];
107
108 temp[0] = (v1[1] * v2[2]) - (v1[2] * v2[1]);
109 temp[1] = (v1[2] * v2[0]) - (v1[0] * v2[2]);
110 temp[2] = (v1[0] * v2[1]) - (v1[1] * v2[0]);
111 vcopy(temp, cross);
112}

References v1, v2, and vcopy().

Referenced by add_quats(), and trackball().

◆ vdot()

double vdot ( const double *  v1,
const double *  v2 
)

Definition at line 131 of file trackball.cpp.

132{
133 return v1[0]*v2[0] + v1[1]*v2[1] + v1[2]*v2[2];
134}

References v1, and v2.

Referenced by add_quats().

◆ vlength()

double vlength ( const double *  v)

Definition at line 114 of file trackball.cpp.

115{
116 return (double) sqrt( v[0] * v[0] + v[1] * v[1] + v[2] * v[2] );
117}

Referenced by trackball(), and vnormal().

◆ vnormal()

void vnormal ( double *  v)

Definition at line 126 of file trackball.cpp.

127{
128 vscale( v, 1.0f / vlength( v ) );
129}

References vlength(), and vscale().

Referenced by axis_to_quat().

◆ vscale()

void vscale ( double *  v,
double  div 
)

Definition at line 119 of file trackball.cpp.

120{
121 v[0] *= div;
122 v[1] *= div;
123 v[2] *= div;
124}

Referenced by add_quats(), axis_to_quat(), and vnormal().

◆ vset()

void vset ( double *  v,
double  x,
double  y,
double  z 
)

Definition at line 82 of file trackball.cpp.

83{
84 v[0] = x;
85 v[1] = y;
86 v[2] = z;
87}

Referenced by trackball().

◆ vsub()

void vsub ( const double *  src1,
const double *  src2,
double *  dst 
)

Definition at line 89 of file trackball.cpp.

90{
91 dst[0] = src1[0] - src2[0];
92 dst[1] = src1[1] - src2[1];
93 dst[2] = src1[2] - src2[2];
94}

Referenced by trackball().

◆ vzero()

void vzero ( double *  v)

Definition at line 75 of file trackball.cpp.

76{
77 v[0] = 0.0;
78 v[1] = 0.0;
79 v[2] = 0.0;
80}

Referenced by trackball().