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conversion from matrix to quaternion and back

Posted Wednesday, 27 April, 2011 - 12:22 by avc81
Project:The Open Toolkit library
Version:1.x-dev
Component:Code
Category:feature request
Priority:normal
Assigned:avc81
Status:in progress (commit)
Description

why don't we add these methods to Matrix,Matrix4d and Quaternion,Quaternion4d? They will be useful


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avc81's picture

#1

Posted Wednesday, 27 April, 2011 - 14:03 by avc81

(add to the previous request)
i noticed that there are no + and - operators(or functions) for matrices

flopoloco's picture

#2

Posted Wednesday, 27 April, 2011 - 17:57 by flopoloco

Can you submit a patch to the repository?

avc81's picture

#3

Posted Thursday, 28 April, 2011 - 06:39 by avc81

today i'm gonna test the functions i wrote. then i will submit a patch (never done that before for opentk, do u use svn?)

the Fiddler's picture

#5

Posted Thursday, 28 April, 2011 - 09:00 by the Fiddler

Yes, we are still on svn. Please create the patch against trunk, as it would be easier to test and merge.

avc81's picture

#6

Posted Thursday, 28 April, 2011 - 09:56 by avc81

you trunk link doesn't work
may i use https://opentk.svn.sourceforge.net/svnroot/opentk/trunk/?
i see that your last commit is dated 2 months ago

the Fiddler's picture

#7

Posted Thursday, 28 April, 2011 - 10:17 by the Fiddler

Yes please use that (the previous link pointed to instructions, not the svn server).

avc81's picture

#8

Posted Thursday, 28 April, 2011 - 12:56 by avc81

patch created. how can i commit it?

the Fiddler's picture

#9

Posted Thursday, 28 April, 2011 - 14:50 by the Fiddler
Status:open» in progress

Please attach it here and I will commit it!

avc81's picture

#10

Posted Thursday, 28 April, 2011 - 15:13 by avc81

no way to attach a file here. Anyway there are some redundancies and maybe too much refs but it works. fix it as u please.

p.s. i will add + and - later cause they are trivial and maybe u want to add them yourself

Index: Source/OpenTK/Math/Matrix4.cs
===================================================================
--- Source/OpenTK/Math/Matrix4.cs	(revision 3066)
+++ Source/OpenTK/Math/Matrix4.cs	(working copy)
@@ -275,6 +275,80 @@
 
         #region Static
 
+          #region CreateFromQuaternion
+        /// <summary>
+        /// Build a rotation matrix from the specified quaternion.
+        /// </summary>
+        /// <param name="q">Quaternion to translate.</param>
+        /// <param name="m">Matrix result.</param>
+        public static void CreateFromQuaternion(ref Quaternion q,ref Matrix4 m)
+        {
+            m = Matrix4.Identity;
+
+			float X = q.X;
+			float Y = q.Y;
+			float Z = q.Z;
+			float W = q.W;
+			
+			float xx = X * X;
+			float xy = X * Y;
+			float xz = X * Z;
+			float xw = X * W;
+			float yy = Y * Y;
+			float yz = Y * Z;
+			float yw = Y * W;
+			float zz = Z * Z;
+			float zw = Z * W;
+			
+			m.M11 = 1 - 2 * (yy + zz);
+			m.M21 = 2 * (xy - zw);
+			m.M31 = 2 * (xz + yw);
+			m.M12 = 2 * (xy + zw);
+			m.M22 = 1 - 2 * (xx + zz);
+			m.M32 = 2 * (yz - xw);
+			m.M13 = 2 * (xz - yw);
+			m.M23 = 2 * (yz + xw);
+			m.M33 = 1 - 2 * (xx + yy);
+        }
+
+        /// <summary>
+        /// Build a rotation matrix from the specified quaternion.
+        /// </summary>
+        /// <param name="q">Quaternion to translate.</param>
+        /// <returns>A matrix instance.</returns>
+        public static Matrix4 CreateFromQuaternion(ref Quaternion q)
+        {
+            Matrix4 result = Matrix4.Identity;
+
+			float X = q.X;
+			float Y = q.Y;
+			float Z = q.Z;
+			float W = q.W;
+			
+			float xx = X * X;
+			float xy = X * Y;
+			float xz = X * Z;
+			float xw = X * W;
+			float yy = Y * Y;
+			float yz = Y * Z;
+			float yw = Y * W;
+			float zz = Z * Z;
+			float zw = Z * W;
+			
+			result.M11 = 1 - 2 * (yy + zz);
+			result.M21 = 2 * (xy - zw);
+			result.M31 = 2 * (xz + yw);
+			result.M12 = 2 * (xy + zw);
+			result.M22 = 1 - 2 * (xx + zz);
+			result.M32 = 2 * (yz - xw);
+			result.M13 = 2 * (xz - yw);
+			result.M23 = 2 * (yz + xw);
+			result.M33 = 1 - 2 * (xx + yy);
+            return result;
+        }
+
+        #endregion
+        
         #region CreateFromAxisAngle
 
         /// <summary>
Index: Source/OpenTK/Math/Matrix4d.cs
===================================================================
--- Source/OpenTK/Math/Matrix4d.cs	(revision 3066)
+++ Source/OpenTK/Math/Matrix4d.cs	(working copy)
@@ -275,6 +275,80 @@
 
         #region Static
 
+        #region CreateFromQuaternion
+        /// <summary>
+        /// Build a rotation matrix from the specified quaternion.
+        /// </summary>
+        /// <param name="q">Quaternion to translate.</param>
+        /// <param name="m">Matrix result.</param>
+        public static void CreateFromQuaternion(ref Quaterniond q,ref Matrix4d m)
+        {
+            m = Matrix4d.Identity;
+
+			double X = q.X;
+			double Y = q.Y;
+			double Z = q.Z;
+			double W = q.W;
+			
+			double xx = X * X;
+			double xy = X * Y;
+			double xz = X * Z;
+			double xw = X * W;
+			double yy = Y * Y;
+			double yz = Y * Z;
+			double yw = Y * W;
+			double zz = Z * Z;
+			double zw = Z * W;
+			
+			m.M11 = 1 - 2 * (yy + zz);
+			m.M21 = 2 * (xy - zw);
+			m.M31 = 2 * (xz + yw);
+			m.M12 = 2 * (xy + zw);
+			m.M22 = 1 - 2 * (xx + zz);
+			m.M32 = 2 * (yz - xw);
+			m.M13 = 2 * (xz - yw);
+			m.M23 = 2 * (yz + xw);
+			m.M33 = 1 - 2 * (xx + yy);
+        }
+
+        /// <summary>
+        /// Build a rotation matrix from the specified quaternion.
+        /// </summary>
+        /// <param name="q">Quaternion to translate.</param>
+        /// <returns>A matrix instance.</returns>
+        public static Matrix4d CreateFromQuaternion(ref Quaterniond q)
+        {
+            Matrix4d result = Matrix4d.Identity;
+
+			double X = q.X;
+			double Y = q.Y;
+			double Z = q.Z;
+			double W = q.W;
+			
+			double xx = X * X;
+			double xy = X * Y;
+			double xz = X * Z;
+			double xw = X * W;
+			double yy = Y * Y;
+			double yz = Y * Z;
+			double yw = Y * W;
+			double zz = Z * Z;
+			double zw = Z * W;
+			
+			result.M11 = 1 - 2 * (yy + zz);
+			result.M21 = 2 * (xy - zw);
+			result.M31 = 2 * (xz + yw);
+			result.M12 = 2 * (xy + zw);
+			result.M22 = 1 - 2 * (xx + zz);
+			result.M32 = 2 * (yz - xw);
+			result.M13 = 2 * (xz - yw);
+			result.M23 = 2 * (yz + xw);
+			result.M33 = 1 - 2 * (xx + yy);
+            return result;
+        }
+
+        #endregion
+        
         #region CreateFromAxisAngle
 
         /// <summary>
Index: Source/OpenTK/Math/Quaternion.cs
===================================================================
--- Source/OpenTK/Math/Quaternion.cs	(revision 3066)
+++ Source/OpenTK/Math/Quaternion.cs	(working copy)
@@ -453,7 +453,122 @@
         }
 
         #endregion
+        
+        #region FromMatrix
+         /// <summary>
+        /// Build a quaternion from the specified rotation matrix.
+        /// </summary>
+        /// <param name="m">Matrix to translate</param>
+        /// <param name="q">Quaternion result</param>
+        public static void CreateFromMatrix(ref Matrix4 m, ref Quaternion q)
+        {
+            float trace = 1 + m.M11 + m.M22 + m.M33;
+			float S = 0;
+			float X = 0;
+			float Y = 0;
+			float Z = 0;
+			float W = 0;
+			
+			if (trace > 0.0000001) 
+			{
+				S = (float)Math.Sqrt(trace) * 2;
+				X = (m.M23 - m.M32) / S;
+				Y = (m.M31 - m.M13) / S;
+				Z = (m.M12 - m.M21) / S;
+				W = 0.25f * S;
+			} 
+			else 
+			{
+				if (m.M11 > m.M22 && m.M11 > m.M33) 
+				{
+					// Column 0: 
+					S = (float)Math.Sqrt(1.0 + m.M11 - m.M22 - m.M33) * 2;
+					X = 0.25f * S;
+					Y = (m.M12 + m.M21) / S;
+					Z = (m.M31 + m.M13) / S;
+					W = (m.M23 - m.M32) / S;
+				} 
+				else if (m.M22 > m.M33) 
+				{
+					// Column 1: 
+					S = (float)Math.Sqrt(1.0 + m.M22 - m.M11 - m.M33) * 2;
+					X = (m.M12 + m.M21) / S;
+					Y = 0.25f * S;
+					Z = (m.M23 + m.M32) / S;
+					W = (m.M31 - m.M13) / S;
+				} 
+				else 
+				{
+					// Column 2:
+					S = (float)Math.Sqrt(1.0 + m.M33 - m.M11 - m.M22) * 2;
+					X = (m.M31 + m.M13) / S;
+					Y = (m.M23 + m.M32) / S;
+					Z = 0.25f * S;
+					W = (m.M12 - m.M21) / S;
+				}
+			}
+			q = new Quaternion(X, Y, Z, W);
+        }
 
+        /// <summary>
+        /// Build a quaternion from the specified rotation matrix.
+        /// </summary>
+        /// <param name="m">Matrix to translate.</param>
+        /// <returns>A quaternion</returns>
+        public static Quaternion CreateFromMatrix(ref Matrix4 m)
+        {
+        	Quaternion q;
+        	
+            float trace = 1 + m.M11 + m.M22 + m.M33;
+			float S = 0;
+			float X = 0;
+			float Y = 0;
+			float Z = 0;
+			float W = 0;
+			
+			if (trace > 0.0000001) 
+			{
+				S = (float)Math.Sqrt(trace) * 2;
+				X = (m.M23 - m.M32) / S;
+				Y = (m.M31 - m.M13) / S;
+				Z = (m.M12 - m.M21) / S;
+				W = 0.25f * S;
+			} 
+			else 
+			{
+				if (m.M11 > m.M22 && m.M11 > m.M33) 
+				{
+					// Column 0: 
+					S = (float)Math.Sqrt(1.0 + m.M11 - m.M22 - m.M33) * 2;
+					X = 0.25f * S;
+					Y = (m.M12 + m.M21) / S;
+					Z = (m.M31 + m.M13) / S;
+					W = (m.M23 - m.M32) / S;
+				} 
+				else if (m.M22 > m.M33) 
+				{
+					// Column 1: 
+					S = (float)Math.Sqrt(1.0 + m.M22 - m.M11 - m.M33) * 2;
+					X = (m.M12 + m.M21) / S;
+					Y = 0.25f * S;
+					Z = (m.M23 + m.M32) / S;
+					W = (m.M31 - m.M13) / S;
+				} 
+				else 
+				{
+					// Column 2:
+					S = (float)Math.Sqrt(1.0 + m.M33 - m.M11 - m.M22) * 2;
+					X = (m.M31 + m.M13) / S;
+					Y = (m.M23 + m.M32) / S;
+					Z = 0.25f * S;
+					W = (m.M12 - m.M21) / S;
+				}
+			}
+			q = new Quaternion(X, Y, Z, W);
+			return q;
+        }
+        #endregion        
+
         #region FromAxisAngle
 
         /// <summary>
Index: Source/OpenTK/Math/Quaterniond.cs
===================================================================
--- Source/OpenTK/Math/Quaterniond.cs	(revision 3066)
+++ Source/OpenTK/Math/Quaterniond.cs	(working copy)
@@ -453,7 +453,122 @@
         }
 
         #endregion
+        
+        #region FromMatrix
+         /// <summary>
+        /// Build a quaternion from the specified rotation matrix.
+        /// </summary>
+        /// <param name="m">Matrix to translate</param>
+        /// <param name="q">Quaternion result</param>
+        public static void CreateFromMatrix(ref Matrix4d m, ref Quaterniond q)
+        {
+            double trace = 1 + m.M11 + m.M22 + m.M33;
+			double S = 0;
+			double X = 0;
+			double Y = 0;
+			double Z = 0;
+			double W = 0;
+			
+			if (trace > 0.0000001) 
+			{
+				S = Math.Sqrt(trace) * 2;
+				X = (m.M23 - m.M32) / S;
+				Y = (m.M31 - m.M13) / S;
+				Z = (m.M12 - m.M21) / S;
+				W = 0.25 * S;
+			} 
+			else 
+			{
+				if (m.M11 > m.M22 && m.M11 > m.M33) 
+				{
+					// Column 0: 
+					S = Math.Sqrt(1.0 + m.M11 - m.M22 - m.M33) * 2;
+					X = 0.25 * S;
+					Y = (m.M12 + m.M21) / S;
+					Z = (m.M31 + m.M13) / S;
+					W = (m.M23 - m.M32) / S;
+				} 
+				else if (m.M22 > m.M33) 
+				{
+					// Column 1: 
+					S = Math.Sqrt(1.0 + m.M22 - m.M11 - m.M33) * 2;
+					X = (m.M12 + m.M21) / S;
+					Y = 0.25 * S;
+					Z = (m.M23 + m.M32) / S;
+					W = (m.M31 - m.M13) / S;
+				} 
+				else 
+				{
+					// Column 2:
+					S = Math.Sqrt(1.0 + m.M33 - m.M11 - m.M22) * 2;
+					X = (m.M31 + m.M13) / S;
+					Y = (m.M23 + m.M32) / S;
+					Z = 0.25 * S;
+					W = (m.M12 - m.M21) / S;
+				}
+			}
+			q = new Quaterniond(X, Y, Z, W);
+        }
 
+        /// <summary>
+        /// Build a quaternion from the specified rotation matrix.
+        /// </summary>
+        /// <param name="m">Matrix to translate.</param>
+        /// <returns>A quaternion</returns>
+        public static Quaterniond CreateFromMatrix(ref Matrix4d m)
+        {
+        	Quaterniond q;
+        	
+            double trace = 1 + m.M11 + m.M22 + m.M33;
+			double S = 0;
+			double X = 0;
+			double Y = 0;
+			double Z = 0;
+			double W = 0;
+			
+			if (trace > 0.0000001) 
+			{
+				S = Math.Sqrt(trace) * 2;
+				X = (m.M23 - m.M32) / S;
+				Y = (m.M31 - m.M13) / S;
+				Z = (m.M12 - m.M21) / S;
+				W = 0.25 * S;
+			} 
+			else 
+			{
+				if (m.M11 > m.M22 && m.M11 > m.M33) 
+				{
+					// Column 0: 
+					S = Math.Sqrt(1.0 + m.M11 - m.M22 - m.M33) * 2;
+					X = 0.25 * S;
+					Y = (m.M12 + m.M21) / S;
+					Z = (m.M31 + m.M13) / S;
+					W = (m.M23 - m.M32) / S;
+				} 
+				else if (m.M22 > m.M33) 
+				{
+					// Column 1: 
+					S = Math.Sqrt(1.0 + m.M22 - m.M11 - m.M33) * 2;
+					X = (m.M12 + m.M21) / S;
+					Y = 0.25 * S;
+					Z = (m.M23 + m.M32) / S;
+					W = (m.M31 - m.M13) / S;
+				} 
+				else 
+				{
+					// Column 2:
+					S = Math.Sqrt(1.0 + m.M33 - m.M11 - m.M22) * 2;
+					X = (m.M31 + m.M13) / S;
+					Y = (m.M23 + m.M32) / S;
+					Z = 0.25 * S;
+					W = (m.M12 - m.M21) / S;
+				}
+			}
+			q = new Quaterniond(X, Y, Z, W);
+			return q;
+        }
+        #endregion
+
         #region FromAxisAngle
 
         /// <summary>
@@ -681,7 +796,9 @@
         #endregion
 
         #endregion
+        
 
+
 #if false
 
         #region Fields
avc81's picture

#12

Posted Wednesday, 11 May, 2011 - 15:42 by avc81
Assigned to:Anonymous» avc81
Status:in progress» in progress (commit)
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