99 lines
3.5 KiB
C++
99 lines
3.5 KiB
C++
////////////////////////////////////////////////////////////////////////////
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//
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// This file is part of MPU9150Lib
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//
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// Copyright (c) 2013 Pansenti, LLC
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//
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// Permission is hereby granted, free of charge, to any person obtaining a copy of
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// this software and associated documentation files (the "Software"), to deal in
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// the Software without restriction, including without limitation the rights to use,
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// copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the
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// Software, and to permit persons to whom the Software is furnished to do so,
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// subject to the following conditions:
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//
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// The above copyright notice and this permission notice shall be included in all
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// copies or substantial portions of the Software.
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//
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED,
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// INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A
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// PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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// HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
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// OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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// SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
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#include "MPUQuaternion.h"
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void MPUQuaternionNormalize(MPUQuaternion q)
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{
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float length = MPUQuaternionNorm(q);
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if (length == 0)
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return;
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q[QUAT_W] /= length;
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q[QUAT_X] /= length;
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q[QUAT_Y] /= length;
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q[QUAT_Z] /= length;
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}
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void MPUQuaternionQuaternionToEuler(const MPUQuaternion q, MPUVector3 v)
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{
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float pole = M_PI/2.0f - 0.05f; // fix roll near poles with this tolerance
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v[VEC3_Y] = asin(2.0f * (q[QUAT_W] * q[QUAT_Y] - q[QUAT_X] * q[QUAT_Z]));
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if ((v[VEC3_Y] < pole) && (v[VEC3_Y] > -pole))
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v[VEC3_X] = atan2(2.0f * (q[QUAT_Y] * q[QUAT_Z] + q[QUAT_W] * q[QUAT_X]),
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1.0f - 2.0f * (q[QUAT_X] * q[QUAT_X] + q[QUAT_Y] * q[QUAT_Y]));
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v[VEC3_Z] = atan2(2.0f * (q[QUAT_X] * q[QUAT_Y] + q[QUAT_W] * q[QUAT_Z]),
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1.0f - 2.0f * (q[QUAT_Y] * q[QUAT_Y] + q[QUAT_Z] * q[QUAT_Z]));
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}
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void MPUQuaternionEulerToQuaternion(const MPUVector3 v, MPUQuaternion q)
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{
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float cosX2 = cos(v[VEC3_X] / 2.0f);
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float sinX2 = sin(v[VEC3_X] / 2.0f);
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float cosY2 = cos(v[VEC3_Y] / 2.0f);
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float sinY2 = sin(v[VEC3_Y] / 2.0f);
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float cosZ2 = cos(v[VEC3_Z] / 2.0f);
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float sinZ2 = sin(v[VEC3_Z] / 2.0f);
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q[QUAT_W] = cosX2 * cosY2 * cosZ2 + sinX2 * sinY2 * sinZ2;
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q[QUAT_X] = sinX2 * cosY2 * cosZ2 - cosX2 * sinY2 * sinZ2;
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q[QUAT_Y] = cosX2 * sinY2 * cosZ2 + sinX2 * cosY2 * sinZ2;
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q[QUAT_Z] = cosX2 * cosY2 * sinZ2 - sinX2 * sinY2 * cosZ2;
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MPUQuaternionNormalize(q);
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}
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void MPUQuaternionConjugate(const MPUQuaternion s, MPUQuaternion d)
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{
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d[QUAT_W] = s[QUAT_W];
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d[QUAT_X] = -s[QUAT_X];
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d[QUAT_Y] = -s[QUAT_Y];
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d[QUAT_Z] = -s[QUAT_Z];
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}
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void MPUQuaternionMultiply(const MPUQuaternion qa, const MPUQuaternion qb, MPUQuaternion qd)
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{
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MPUVector3 va;
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MPUVector3 vb;
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float dotAB;
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MPUVector3 crossAB;
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va[VEC3_X] = qa[QUAT_X];
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va[VEC3_Y] = qa[QUAT_Y];
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va[VEC3_Z] = qa[QUAT_Z];
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vb[VEC3_X] = qb[QUAT_X];
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vb[VEC3_Y] = qb[QUAT_Y];
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vb[VEC3_Z] = qb[QUAT_Z];
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MPUVector3DotProduct(va, vb, &dotAB);
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MPUVector3CrossProduct(va, vb, crossAB);
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qd[QUAT_W] = qa[QUAT_W] * qb[QUAT_W] - dotAB;
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qd[QUAT_X] = qa[QUAT_W] * vb[VEC3_X] + qb[QUAT_W] * va[VEC3_X] + crossAB[VEC3_X];
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qd[QUAT_Y] = qa[QUAT_W] * vb[VEC3_Y] + qb[QUAT_W] * va[VEC3_Y] + crossAB[VEC3_Y];
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qd[QUAT_Z] = qa[QUAT_W] * vb[VEC3_Z] + qb[QUAT_W] * va[VEC3_Z] + crossAB[VEC3_Z];
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}
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