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root/OpenMD/branches/development/src/math/Quaternion.hpp

Comparing:
trunk/src/math/Quaternion.hpp (file contents), Revision 963 by tim, Wed May 17 21:51:42 2006 UTC vs.
branches/development/src/math/Quaternion.hpp (file contents), Revision 1465 by chuckv, Fri Jul 9 23:08:25 2010 UTC

#	Line 6 | Line 6
6		* redistribute this software in source and binary code form, provided
7		* that the following conditions are met:
8		*
9	<	* 1. Acknowledgement of the program authors must be made in any
10	<	*    publication of scientific results based in part on use of the
11	<	*    program.  An acceptable form of acknowledgement is citation of
12	<	*    the article in which the program was described (Matthew
13	<	*    A. Meineke, Charles F. Vardeman II, Teng Lin, Christopher
14	<	*    J. Fennell and J. Daniel Gezelter, "OOPSE: An Object-Oriented
15	<	*    Parallel Simulation Engine for Molecular Dynamics,"
16	<	*    J. Comput. Chem. 26, pp. 252-271 (2005))
17	<	*
18	<	* 2. Redistributions of source code must retain the above copyright
9	>	* 1. Redistributions of source code must retain the above copyright
10		*    notice, this list of conditions and the following disclaimer.
11		*
12	<	* 3. Redistributions in binary form must reproduce the above copyright
12	>	* 2. Redistributions in binary form must reproduce the above copyright
13		*    notice, this list of conditions and the following disclaimer in the
14		*    documentation and/or other materials provided with the
15		*    distribution.
#	Line 37 | Line 28
28		* arising out of the use of or inability to use software, even if the
29		* University of Notre Dame has been advised of the possibility of
30		* such damages.
31	+	*
32	+	* SUPPORT OPEN SCIENCE!  If you use OpenMD or its source code in your
33	+	* research, please cite the appropriate papers when you publish your
34	+	* work.  Good starting points are:
35	+	*
36	+	* [1]  Meineke, et al., J. Comp. Chem. 26, 252-271 (2005).
37	+	* [2]  Fennell & Gezelter, J. Chem. Phys. 124, 234104 (2006).
38	+	* [3]  Sun, Lin & Gezelter, J. Chem. Phys. 128, 24107 (2008).
39	+	* [4]  Vardeman & Gezelter, in progress (2009).
40		*/
41
42		/**
#	Line 49 | Line 49
49		#ifndef MATH_QUATERNION_HPP
50		#define MATH_QUATERNION_HPP
51
52	<	#include "math/Vector.hpp"
52	>	#include "math/Vector3.hpp"
53		#include "math/SquareMatrix.hpp"
54	+	#define ISZERO(a,eps) ( (a)>-(eps) && (a)<(eps) )
55	+	const RealType tiny=1.0e-6;
56
57	<	namespace oopse{
57	>	namespace OpenMD{
58
59		/**
60		* @class Quaternion Quaternion.hpp "math/Quaternion.hpp"
#	Line 64 | Line 66 | namespace oopse{
66		*/
67		template<typename Real>
68		class Quaternion : public Vector<Real, 4> {
69	+
70		public:
71		Quaternion() : Vector<Real, 4>() {}
72
#	Line 78 | Line 81 | namespace oopse{
81		/** Constructs and initializes a Quaternion from a  Vector<Real,4> */
82		Quaternion(const Vector<Real,4>& v)
83		: Vector<Real, 4>(v){
84	<	}
84	>	}
85
86		/** copy assignment */
87		Quaternion& operator =(const Vector<Real, 4>& v){
88		if (this == & v)
89		return *this;
90	<
90	>
91		Vector<Real, 4>::operator=(v);
92	<
92	>
93		return *this;
94		}
95	<
95	>
96		/**
97		* Returns the value of the first element of this quaternion.
98		* @return the value of the first element of this quaternion
#	Line 242 | Line 245 | namespace oopse{
245		* Returns the conjugate quaternion of this quaternion
246		* @return the conjugate quaternion of this quaternion
247		*/
248	<	Quaternion<Real> conjugate() {
248	>	Quaternion<Real> conjugate() const {
249		return Quaternion<Real>(w(), -x(), -y(), -z());
250		}
251
252	+
253		/**
254	+	return rotation angle from -PI to PI
255	+	*/
256	+	inline Real get_rotation_angle() const{
257	+	if( w < (Real)0.0 )
258	+	return 2.0*atan2(-sqrt( x()*x() + y()*y() + z()*z() ), -w() );
259	+	else
260	+	return 2.0*atan2( sqrt( x()*x() + y()*y() + z()*z() ),  w() );
261	+	}
262	+
263	+	/**
264	+	create a unit quaternion from axis angle representation
265	+	*/
266	+	Quaternion<Real> fromAxisAngle(const Vector3<Real>& axis,
267	+	const Real& angle){
268	+	Vector3<Real> v(axis);
269	+	v.normalize();
270	+	Real half_angle = angle*0.5;
271	+	Real sin_a = sin(half_angle);
272	+	*this = Quaternion<Real>(cos(half_angle),
273	+	v.x()*sin_a,
274	+	v.y()*sin_a,
275	+	v.z()*sin_a);
276	+	return *this;
277	+	}
278	+
279	+	/**
280	+	convert a quaternion to axis angle representation,
281	+	preserve the axis direction and angle from -PI to +PI
282	+	*/
283	+	void toAxisAngle(Vector3<Real>& axis, Real& angle)const {
284	+	Real vl = sqrt( x()*x() + y()*y() + z()*z() );
285	+	if( vl > tiny ) {
286	+	Real ivl = 1.0/vl;
287	+	axis.x() = x() * ivl;
288	+	axis.y() = y() * ivl;
289	+	axis.z() = z() * ivl;
290	+
291	+	if( w() < 0 )
292	+	angle = 2.0*atan2(-vl, -w()); //-PI,0
293	+	else
294	+	angle = 2.0*atan2( vl,  w()); //0,PI
295	+	} else {
296	+	axis = Vector3<Real>(0.0,0.0,0.0);
297	+	angle = 0.0;
298	+	}
299	+	}
300	+
301	+	/**
302	+	shortest arc quaternion rotate one vector to another by shortest path.
303	+	create rotation from -> to, for any length vectors.
304	+	*/
305	+	Quaternion<Real> fromShortestArc(const Vector3d& from,
306	+	const Vector3d& to ) {
307	+
308	+	Vector3d c( cross(from,to) );
309	+	*this = Quaternion<Real>(dot(from,to),
310	+	c.x(),
311	+	c.y(),
312	+	c.z());
313	+
314	+	this->normalize();    // if "from" or "to" not unit, normalize quat
315	+	w += 1.0f;            // reducing angle to halfangle
316	+	if( w <= 1e-6 ) {     // angle close to PI
317	+	if( ( from.z()*from.z() ) > ( from.x()*from.x() ) ) {
318	+	this->data_[0] =  w;
319	+	this->data_[1] =  0.0;       //cross(from , Vector3d(1,0,0))
320	+	this->data_[2] =  from.z();
321	+	this->data_[3] = -from.y();
322	+	} else {
323	+	this->data_[0] =  w;
324	+	this->data_[1] =  from.y();  //cross(from, Vector3d(0,0,1))
325	+	this->data_[2] = -from.x();
326	+	this->data_[3] =  0.0;
327	+	}
328	+	}
329	+	this->normalize();
330	+	}
331	+
332	+	Real ComputeTwist(const Quaternion& q) {
333	+	return  (Real)2.0 * atan2(q.z(), q.w());
334	+	}
335	+
336	+	void RemoveTwist(Quaternion& q) {
337	+	Real t = ComputeTwist(q);
338	+	Quaternion rt = fromAxisAngle(V3Z, t);
339	+
340	+	q *= rt.inverse();
341	+	}
342	+
343	+	void getTwistSwingAxisAngle(Real& twistAngle, Real& swingAngle,
344	+	Vector3<Real>& swingAxis) {
345	+
346	+	twistAngle = (Real)2.0 * atan2(z(), w());
347	+	Quaternion rt, rs;
348	+	rt.fromAxisAngle(V3Z, twistAngle);
349	+	rs = *this * rt.inverse();
350	+
351	+	Real vl = sqrt( rs.x()*rs.x() + rs.y()*rs.y() + rs.z()*rs.z() );
352	+	if( vl > tiny ) {
353	+	Real ivl = 1.0 / vl;
354	+	swingAxis.x() = rs.x() * ivl;
355	+	swingAxis.y() = rs.y() * ivl;
356	+	swingAxis.z() = rs.z() * ivl;
357	+
358	+	if( rs.w() < 0.0 )
359	+	swingAngle = 2.0*atan2(-vl, -rs.w()); //-PI,0
360	+	else
361	+	swingAngle = 2.0*atan2( vl,  rs.w()); //0,PI
362	+	} else {
363	+	swingAxis = Vector3<Real>(1.0,0.0,0.0);
364	+	swingAngle = 0.0;
365	+	}
366	+	}
367	+
368	+
369	+	Vector3<Real> rotate(const Vector3<Real>& v) {
370	+
371	+	Quaternion<Real> q(v.x() * w() + v.z() * y() - v.y() * z(),
372	+	v.y() * w() + v.x() * z() - v.z() * x(),
373	+	v.z() * w() + v.y() * x() - v.x() * y(),
374	+	v.x() * x() + v.y() * y() + v.z() * z());
375	+
376	+	return Vector3<Real>(w()*q.x() + x()*q.w() + y()*q.z() - z()*q.y(),
377	+	w()*q.y() + y()*q.w() + z()*q.x() - x()*q.z(),
378	+	w()*q.z() + z()*q.w() + x()*q.y() - y()*q.x())*
379	+	( 1.0/this->lengthSquare() );
380	+	}
381	+
382	+	Quaternion<Real>& align (const Vector3<Real>& V1,
383	+	const Vector3<Real>& V2) {
384	+
385	+	// If V1 and V2 are not parallel, the axis of rotation is the unit-length
386	+	// vector U = Cross(V1,V2)/Length(Cross(V1,V2)).  The angle of rotation,
387	+	// A, is the angle between V1 and V2.  The quaternion for the rotation is
388	+	// q = cos(A/2) + sin(A/2)*(ux*i+uy*j+uz*k) where U = (ux,uy,uz).
389	+	//
390	+	// (1) Rather than extract A = acos(Dot(V1,V2)), multiply by 1/2, then
391	+	//     compute sin(A/2) and cos(A/2), we reduce the computational costs
392	+	//     by computing the bisector B = (V1+V2)/Length(V1+V2), so cos(A/2) =
393	+	//     Dot(V1,B).
394	+	//
395	+	// (2) The rotation axis is U = Cross(V1,B)/Length(Cross(V1,B)), but
396	+	//     Length(Cross(V1,B)) = Length(V1)*Length(B)*sin(A/2) = sin(A/2), in
397	+	//     which case sin(A/2)*(ux*i+uy*j+uz*k) = (cx*i+cy*j+cz*k) where
398	+	//     C = Cross(V1,B).
399	+	//
400	+	// If V1 = V2, then B = V1, cos(A/2) = 1, and U = (0,0,0).  If V1 = -V2,
401	+	// then B = 0.  This can happen even if V1 is approximately -V2 using
402	+	// floating point arithmetic, since Vector3::Normalize checks for
403	+	// closeness to zero and returns the zero vector accordingly.  The test
404	+	// for exactly zero is usually not recommend for floating point
405	+	// arithmetic, but the implementation of Vector3::Normalize guarantees
406	+	// the comparison is robust.  In this case, the A = pi and any axis
407	+	// perpendicular to V1 may be used as the rotation axis.
408	+
409	+	Vector3<Real> Bisector = V1 + V2;
410	+	Bisector.normalize();
411	+
412	+	Real CosHalfAngle = dot(V1,Bisector);
413	+
414	+	this->data_[0] = CosHalfAngle;
415	+
416	+	if (CosHalfAngle != (Real)0.0) {
417	+	Vector3<Real> Cross = cross(V1, Bisector);
418	+	this->data_[1] = Cross.x();
419	+	this->data_[2] = Cross.y();
420	+	this->data_[3] = Cross.z();
421	+	} else {
422	+	Real InvLength;
423	+	if (fabs(V1[0]) >= fabs(V1[1])) {
424	+	// V1.x or V1.z is the largest magnitude component
425	+	InvLength = (Real)1.0/sqrt(V1[0]*V1[0] + V1[2]*V1[2]);
426	+
427	+	this->data_[1] = -V1[2]*InvLength;
428	+	this->data_[2] = (Real)0.0;
429	+	this->data_[3] = +V1[0]*InvLength;
430	+	} else {
431	+	// V1.y or V1.z is the largest magnitude component
432	+	InvLength = (Real)1.0 / sqrt(V1[1]*V1[1] + V1[2]*V1[2]);
433	+
434	+	this->data_[1] = (Real)0.0;
435	+	this->data_[2] = +V1[2]*InvLength;
436	+	this->data_[3] = -V1[1]*InvLength;
437	+	}
438	+	}
439	+	return *this;
440	+	}
441	+
442	+	void toTwistSwing ( Real& tw, Real& sx, Real& sy ) {
443	+
444	+	// First test if the swing is in the singularity:
445	+
446	+	if ( ISZERO(z(),tiny) && ISZERO(w(),tiny) ) { sx=sy=M_PI; tw=0; return; }
447	+
448	+	// Decompose into twist-swing by solving the equation:
449	+	//
450	+	//                       Qtwist(t*2) * Qswing(s*2) = q
451	+	//
452	+	// note: (x,y) is the normalized swing axis (x*x+y*y=1)
453	+	//
454	+	//          ( Ct 0 0 St ) * ( Cs xSs ySs 0 ) = ( qw qx qy qz )
455	+	//  ( CtCs  xSsCt-yStSs  xStSs+ySsCt  StCs ) = ( qw qx qy qz )      (1)
456	+	// From (1): CtCs / StCs = qw/qz => Ct/St = qw/qz => tan(t) = qz/qw (2)
457	+	//
458	+	// The swing rotation/2 s comes from:
459	+	//
460	+	// From (1): (CtCs)^2 + (StCs)^2 = qw^2 + qz^2 =>
461	+	//                                       Cs = sqrt ( qw^2 + qz^2 ) (3)
462	+	//
463	+	// From (1): (xSsCt-yStSs)^2 + (xStSs+ySsCt)^2 = qx^2 + qy^2 =>
464	+	//                                       Ss = sqrt ( qx^2 + qy^2 ) (4)
465	+	// From (1):  |SsCt -StSs| |x| = |qx|
466	+	//            |StSs +SsCt| |y|   |qy|                              (5)
467	+
468	+	Real qw, qx, qy, qz;
469	+
470	+	if ( w()<0 ) {
471	+	qw=-w();
472	+	qx=-x();
473	+	qy=-y();
474	+	qz=-z();
475	+	} else {
476	+	qw=w();
477	+	qx=x();
478	+	qy=y();
479	+	qz=z();
480	+	}
481	+
482	+	Real t = atan2 ( qz, qw ); // from (2)
483	+	Real s = atan2( sqrt(qx*qx+qy*qy), sqrt(qz*qz+qw*qw) ); // from (3)
484	+	// and (4)
485	+
486	+	Real x=0.0, y=0.0, sins=sin(s);
487	+
488	+	if ( !ISZERO(sins,tiny) ) {
489	+	Real sint = sin(t);
490	+	Real cost = cos(t);
491	+
492	+	// by solving the linear system in (5):
493	+	y = (-qx*sint + qy*cost)/sins;
494	+	x = ( qx*cost + qy*sint)/sins;
495	+	}
496	+
497	+	tw = (Real)2.0*t;
498	+	sx = (Real)2.0*x*s;
499	+	sy = (Real)2.0*y*s;
500	+	}
501	+
502	+	void toSwingTwist(Real& sx, Real& sy, Real& tw ) {
503	+
504	+	// Decompose q into swing-twist using a similar development as
505	+	// in function toTwistSwing
506	+
507	+	if ( ISZERO(z(),tiny) && ISZERO(w(),tiny) ) { sx=sy=M_PI; tw=0; }
508	+
509	+	Real qw, qx, qy, qz;
510	+	if ( w() < 0 ){
511	+	qw=-w();
512	+	qx=-x();
513	+	qy=-y();
514	+	qz=-z();
515	+	} else {
516	+	qw=w();
517	+	qx=x();
518	+	qy=y();
519	+	qz=z();
520	+	}
521	+
522	+	// Get the twist t:
523	+	Real t = 2.0 * atan2(qz,qw);
524	+
525	+	Real bet = atan2( sqrt(qx*qx+qy*qy), sqrt(qz*qz+qw*qw) );
526	+	Real gam = t/2.0;
527	+	Real sinc = ISZERO(bet,tiny)? 1.0 : sin(bet)/bet;
528	+	Real singam = sin(gam);
529	+	Real cosgam = cos(gam);
530	+
531	+	sx = Real( (2.0/sinc) * (cosgam*qx - singam*qy) );
532	+	sy = Real( (2.0/sinc) * (singam*qx + cosgam*qy) );
533	+	tw = Real( t );
534	+	}
535	+
536	+
537	+
538	+	/**
539		* Returns the corresponding rotation matrix (3x3)
540		* @return a 3x3 rotation matrix
541		*/
542		SquareMatrix<Real, 3> toRotationMatrix3() {
543		SquareMatrix<Real, 3> rotMat3;
544	<
544	>
545		Real w2;
546		Real x2;
547		Real y2;

Comparing:
trunk/src/math/Quaternion.hpp (property svn:keywords), Revision 963 by tim, Wed May 17 21:51:42 2006 UTC vs.
branches/development/src/math/Quaternion.hpp (property svn:keywords), Revision 1465 by chuckv, Fri Jul 9 23:08:25 2010 UTC

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