update bullet test to compile from source

1 files changed, 243 insertions, 0 deletions

diff --git a/tests/bullet/Extras/glui/quaternion.cpp b/tests/bullet/Extras/glui/quaternion.cpp
new file mode 100644
index 00000000..d73523eb
--- /dev/null
+++ b/tests/bullet/Extras/glui/quaternion.cpp
@@ -0,0 +1,243 @@
+/***********************************************************************
+
+  quaternion.cpp - A quaternion class
+
+  -------------------------------------------------------------------
+
+  GLUI User Interface Toolkit (LGPL)
+  Copyright (c) 1998 Paul Rademacher
+
+  WWW:    http://sourceforge.net/projects/glui/
+  Forums: http://sourceforge.net/forum/?group_id=92496
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+  Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+
+************************************************************************
+
+  Feb 1998, Paul Rademacher (rademach@cs.unc.edu)
+  Oct 2003, Nigel Stewart - GLUI Code Cleaning
+  
+************************************************************************/
+#include "glui_internal_control.h"
+#include "quaternion.h"
+#include <cmath>
+#include "glui_internal.h"
+
+/******************************************* constructors **************/
+
+quat::quat()
+{
+    *this = quat_identity();
+}
+
+quat::quat(const float x, const float y, const float z, const float w)
+{
+    v.set( x, y, z );
+    s = w;
+}
+
+quat::quat(const vec3 &_v, const float _s)
+{
+    set( _v, _s );
+}
+
+quat::quat(const float _s, const vec3 &_v)
+{
+    set( _v, _s );
+}
+
+quat::quat(const float *d)
+{
+    v[0] = d[0];
+    v[1] = d[1];
+    v[2] = d[2];
+    s    = d[3];
+}
+
+quat::quat(const double *d)
+{
+    v[0] = (float) d[0];
+    v[1] = (float) d[1];
+    v[2] = (float) d[2];
+    s    = (float) d[3];
+}
+
+quat::quat(const quat &q)
+{
+    v = q.v;
+    s = q.s;
+}
+
+void quat::set(const vec3 &_v, const float _s)
+{
+    v = _v;
+    s = _s;
+}
+
+quat &quat::operator=(const quat &q)
+{ 
+    v = q.v;  
+    s = q.s; 
+    return *this; 
+}
+
+/******** quat friends ************/
+
+quat operator + (const quat &a, const quat &b)
+{
+    return quat( a.s+b.s, a.v+b.v );
+}
+
+quat operator - (const quat &a, const quat &b)
+{
+    return quat( a.s-b.s, a.v-b.v );
+}
+
+quat operator - (const quat &a )
+{
+    return quat( -a.s, -a.v );
+}
+
+quat operator * ( const quat &a, const quat &b)
+{
+    return quat( a.s*b.s - a.v*b.v, a.s*b.v + b.s*a.v + a.v^b.v );
+}
+
+quat operator * ( const quat &a, const float t)
+{
+    return quat( a.v * t, a.s * t );
+}
+
+quat operator * ( const float t, const quat &a )
+{
+    return quat( a.v * t, a.s * t );
+}
+
+mat4 quat::to_mat4() const
+{
+    float xs, ys, zs, wx, wy, wz, xx, xy, xz, yy, yz, zz;
+
+    float t  = 2.0f / (v*v + s*s);
+
+    xs = v[VX]*t;   ys = v[VY]*t;   zs = v[VZ]*t;
+    wx = s*xs;      wy = s*ys;      wz = s*zs;
+    xx = v[VX]*xs;  xy = v[VX]*ys;  xz = v[VX]*zs;
+    yy = v[VY]*ys;  yz = v[VY]*zs;  zz = v[VZ]*zs;
+
+    mat4 matrix( 
+           1.0f-(yy+zz), xy+wz,        xz-wy,        0.0f,
+           xy-wz,        1.0f-(xx+zz), yz+wx,        0.0f,
+           xz+wy,        yz-wx,        1.0f-(xx+yy), 0.0f,
+           0.0f,         0.0f,         0.0f,         1.0f );
+
+    return matrix;
+}
+
+/************************************************* quat_identity() *****/
+/* Returns quaternion identity element                                 */
+
+quat quat_identity() 
+{
+    return quat( vec3( 0.0, 0.0, 0.0 ), 1.0 );
+}
+
+/************************************************ quat_slerp() ********/
+/* Quaternion spherical interpolation                                 */
+
+quat quat_slerp(const quat &from, const quat &to, float t)
+{
+    quat to1;
+    float omega, cosom, sinom, scale0, scale1;
+
+    /* calculate cosine */
+    cosom = from.v * to.v + from.s + to.s;
+
+    /* Adjust signs (if necessary) */
+    if ( cosom < 0.0 ) 
+    {
+        cosom = -cosom;
+        to1 = -to;
+    }
+    else
+    {
+        to1 = to;
+    }
+
+    /* Calculate coefficients */
+    if ((1.0 - cosom) > FUDGE ) 
+    {
+        /* standard case (slerp) */
+        omega =  (float) acos( cosom );
+        sinom =  (float) sin( omega );
+        scale0 = (float) sin((1.0 - t) * omega) / sinom;
+        scale1 = (float) sin(t * omega) / sinom;
+    }
+    else 
+    {
+        /* 'from' and 'to' are very close - just do linear interpolation */
+        scale0 = 1.0f - t;
+        scale1 = t;      
+    }
+
+    return scale0 * from + scale1 * to1;
+}
+
+/********************************************** set_angle() ************/
+/* set rot angle (degrees)                                             */
+
+void quat::set_angle(float f)
+{
+    vec3 axis = get_axis();
+
+    s = (float) cos( DEG2RAD( f ) / 2.0 );
+
+    v = axis * (float) sin(DEG2RAD(f) / 2.0);
+}
+
+/********************************************** scale_angle() ************/
+/* scale rot angle (degrees)                                             */
+
+void quat::scale_angle(float f)
+{
+    set_angle( f * get_angle() );
+}
+
+/********************************************** get_angle() ************/
+/* get rot angle (degrees).  Assumes s is between -1 and 1             */
+
+float quat::get_angle() const
+{
+    return (float) RAD2DEG( 2.0 * acos( s ) );
+}
+
+/********************************************* get_axis() **************/
+
+vec3 quat::get_axis() const
+{
+    float scale = (float) sin( acos( s ) );
+
+    if ( scale < FUDGE AND scale > -FUDGE )
+        return vec3( 0.0, 0.0, 0.0 );
+    else
+        return  v / scale;
+}
+
+/******************************************* quat::print() ************/
+
+void quat::print(FILE *dest, const char *name) const
+{
+    fprintf( dest, "%s:   v:<%3.2f %3.2f %3.2f>  s:%3.2f\n", 
+        name, v[0], v[1], v[2], s );
+}