zeus/src/CVector3f.cpp

#include "zeus/CVector3f.hpp"
#include "zeus/CVector3d.hpp"
#include <memory.h>
#include <cmath>
#include <cassert>
#include "zeus/Math.hpp"

namespace zeus {
const CVector3f CVector3f::skOne(1.f);
const CVector3f CVector3f::skNegOne(-1.f);
const CVector3f CVector3f::skZero;
const CVector3f CVector3f::skForward(0.f, 1.f, 0.f);
const CVector3f CVector3f::skBack(0.f, -1.f, 0.f);
const CVector3f CVector3f::skLeft(-1.f, 0.f, 0.f);
const CVector3f CVector3f::skRight(1.f, 0.f, 0.f);
const CVector3f CVector3f::skUp(0.f, 0.f, 1.f);
const CVector3f CVector3f::skDown(0.f, 0.f, -1.f);
const CVector3f CVector3f::skRadToDegVec(180.0f / M_PIF);
const CVector3f CVector3f::skDegToRadVec(M_PIF / 180.0f);
const CVector3d CVector3d::skZero(0.0, 0.0, 0.0);

CVector3f::CVector3f(const CVector3d& vec) : mSimd(vec.mSimd) {}

float CVector3f::getAngleDiff(const CVector3f& a, const CVector3f& b) {
  float mag1 = a.magnitude();
  float mag2 = b.magnitude();

  if (!mag1 || !mag2)
    return 0.f;

  float dot = a.dot(b);
  float theta = std::acos(dot / (mag1 * mag2));
  return theta;
}

CVector3f CVector3f::slerp(const CVector3f& a, const CVector3f& b, float t) {
  if (t <= 0.0f)
    return a;
  if (t >= 1.0f)
    return b;

  CVector3f ret;

  float mag = std::sqrt(a.dot(a) * b.dot(b));

  float prod = a.dot(b) / mag;

  if (std::fabs(prod) < 1.0f) {
    const double sign = (prod < 0.0f) ? -1.0f : 1.0f;

    const double theta = acos(sign * prod);
    const double s1 = sin(sign * t * theta);
    const double d = 1.0 / sin(theta);
    const double s0 = sin((1.0 - t) * theta);

    ret = (a * s0 + b * s1) * d;

    return ret;
  }
  return a;
}
} // namespace zeus