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godotengine
GitHub Repository: godotengine/godot
 Path: blob/master/thirdparty/embree/include/embree4/rtcore_quaternion.h
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// Copyright 2009-2021 Intel Corporation

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// SPDX-License-Identifier: Apache-2.0

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#pragma once

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#include "rtcore_common.h"

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RTC_NAMESPACE_BEGIN

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/*

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 * Structure for transformation representation as a matrix decomposition using

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 * a quaternion

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 */

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struct RTC_ALIGN(16) RTCQuaternionDecomposition

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{

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  float scale_x;

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  float scale_y;

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  float scale_z;

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  float skew_xy;

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  float skew_xz;

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  float skew_yz;

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  float shift_x;

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  float shift_y;

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  float shift_z;

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  float quaternion_r;

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  float quaternion_i;

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  float quaternion_j;

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  float quaternion_k;

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  float translation_x;

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  float translation_y;

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  float translation_z;

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};

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RTC_FORCEINLINE void rtcInitQuaternionDecomposition(struct RTCQuaternionDecomposition* qdecomp)

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{

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  qdecomp->scale_x = 1.f;

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  qdecomp->scale_y = 1.f;

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  qdecomp->scale_z = 1.f;

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  qdecomp->skew_xy = 0.f;

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  qdecomp->skew_xz = 0.f;

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  qdecomp->skew_yz = 0.f;

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  qdecomp->shift_x = 0.f;

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  qdecomp->shift_y = 0.f;

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  qdecomp->shift_z = 0.f;

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  qdecomp->quaternion_r = 1.f;

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  qdecomp->quaternion_i = 0.f;

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  qdecomp->quaternion_j = 0.f;

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  qdecomp->quaternion_k = 0.f;

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  qdecomp->translation_x = 0.f;

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  qdecomp->translation_y = 0.f;

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  qdecomp->translation_z = 0.f;

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}

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RTC_FORCEINLINE void rtcQuaternionDecompositionSetQuaternion(

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  struct RTCQuaternionDecomposition* qdecomp,

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  float r, float i, float j, float k)

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{

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  qdecomp->quaternion_r = r;

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  qdecomp->quaternion_i = i;

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  qdecomp->quaternion_j = j;

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  qdecomp->quaternion_k = k;

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}

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RTC_FORCEINLINE void rtcQuaternionDecompositionSetScale(

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  struct RTCQuaternionDecomposition* qdecomp,

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  float scale_x, float scale_y, float scale_z)

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{

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  qdecomp->scale_x = scale_x;

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  qdecomp->scale_y = scale_y;

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  qdecomp->scale_z = scale_z;

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}

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RTC_FORCEINLINE void rtcQuaternionDecompositionSetSkew(

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  struct RTCQuaternionDecomposition* qdecomp,

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  float skew_xy, float skew_xz, float skew_yz)

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{

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  qdecomp->skew_xy = skew_xy;

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  qdecomp->skew_xz = skew_xz;

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  qdecomp->skew_yz = skew_yz;

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}

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RTC_FORCEINLINE void rtcQuaternionDecompositionSetShift(

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  struct RTCQuaternionDecomposition* qdecomp,

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  float shift_x, float shift_y, float shift_z)

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{

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  qdecomp->shift_x = shift_x;

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  qdecomp->shift_y = shift_y;

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  qdecomp->shift_z = shift_z;

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}

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RTC_FORCEINLINE void rtcQuaternionDecompositionSetTranslation(

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  struct RTCQuaternionDecomposition* qdecomp,

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  float translation_x, float translation_y, float translation_z)

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{

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  qdecomp->translation_x = translation_x;

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  qdecomp->translation_y = translation_y;

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  qdecomp->translation_z = translation_z;

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}

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RTC_NAMESPACE_END

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