Sebastián Barschkis
4ff7c5eed6
Includes preprocessed Mantaflow source files for both OpenMP and TBB (if OpenMP is not present, TBB files will be used instead). These files come directly from the Mantaflow repository. Future updates to the core fluid solver will take place by updating the files. Reviewed By: sergey, mont29 Maniphest Tasks: T59995 Differential Revision: https://developer.blender.org/D3850
104 lines
2.2 KiB
C++
104 lines
2.2 KiB
C++
/******************************************************************************
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*
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* MantaFlow fluid solver framework
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* Copyright 2011 Tobias Pfaff, Nils Thuerey
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*
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* This program is free software, distributed under the terms of the
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* Apache License, Version 2.0
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Basic quaternion class
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*
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******************************************************************************/
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#ifndef _QUATERNION_H
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#define _QUATERNION_H
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#include "vectorbase.h"
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namespace Manta {
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//! Very basic quaternion class
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class Quaternion {
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public:
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//! default constructor
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Quaternion() : x(0), y(0), z(0), w(0)
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{
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}
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//! copy constructor
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Quaternion(const Quaternion &q) : x(q.x), y(q.y), z(q.z), w(q.w)
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{
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}
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//! construct a quaternion from members
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Quaternion(Real _x, Real _y, Real _z, Real _w) : x(_x), y(_y), z(_z), w(_w)
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{
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}
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//! construct a quaternion from imag/real parts
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Quaternion(Vec3 i, Real r) : x(i.x), y(i.y), z(i.z), w(r)
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{
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}
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//! Assign operator
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inline Quaternion &operator=(const Quaternion &q)
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{
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x = q.x;
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y = q.y;
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z = q.z;
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w = q.w;
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return *this;
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}
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//! Assign multiplication operator
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inline Quaternion &operator*=(const Real a)
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{
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x *= a;
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y *= a;
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z *= a;
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w *= a;
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return *this;
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}
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//! return inverse quaternion
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inline Quaternion inverse() const
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{
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Real mag = 1.0 / (x * x + y * y + z * z + w * w);
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return Quaternion(-x * mag, -y * mag, -z * mag, w * mag);
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}
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//! imaginary part accessor
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inline Vec3 imag()
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{
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return Vec3(x, y, z);
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}
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// imaginary part
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Real x;
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Real y;
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Real z;
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// real part
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Real w;
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};
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//! Multiplication operator
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inline Quaternion operator*(const Quaternion &q1, const Quaternion &q2)
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{
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return Quaternion(q2.w * q1.x + q2.x * q1.w + q2.y * q1.z - q2.z * q1.y,
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q2.w * q1.y + q2.y * q1.w + q2.z * q1.x - q2.x * q1.z,
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q2.w * q1.z + q2.z * q1.w + q2.x * q1.y - q2.y * q1.x,
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q2.w * q1.w - q2.x * q1.x - q2.y * q1.y - q2.z * q1.z);
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}
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//! Multiplication operator
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inline Quaternion operator*(const Quaternion &q, const Real a)
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{
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return Quaternion(q.x * a, q.y * a, q.z * a, q.w * a);
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}
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} // namespace Manta
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#endif
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