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/*
* qmult.c - quaternion multiplication dsp object
* Copyright (c) 2000-2003 by Tom Schouten
*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program 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 General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*/
#include "m_pd.h"
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
typedef struct qmultctl
{
t_float *c_inputleft[4];
t_float *c_inputright[4];
t_float *c_output[4];
} t_qmultctl;
typedef struct qmult
{
t_object x_obj;
t_float x_f;
t_qmultctl x_ctl;
} t_qmult;
static t_int *qmult_perform(t_int *word)
{
t_qmultctl *ctl = (t_qmultctl *)(word[1]);
t_int n = (t_int)(word[2]);
t_int i;
t_float *in0l = ctl->c_inputleft[0];
t_float *in1l = ctl->c_inputleft[1];
t_float *in2l = ctl->c_inputleft[2];
t_float *in3l = ctl->c_inputleft[3];
t_float *in0r = ctl->c_inputright[0];
t_float *in1r = ctl->c_inputright[1];
t_float *in2r = ctl->c_inputright[2];
t_float *in3r = ctl->c_inputright[3];
t_float *out0 = ctl->c_output[0];
t_float *out1 = ctl->c_output[1];
t_float *out2 = ctl->c_output[2];
t_float *out3 = ctl->c_output[3];
t_float wl, xl, yl, zl;
t_float wr, xr, yr, zr;
t_float w, x, y, z;
for (i=0;i<n;i++)
{
/* read input quaternions */
wl = *in0l++;
xl = *in1l++;
yl = *in2l++;
zl = *in3l++;
wr = *in0r++;
xr = *in1r++;
yr = *in2r++;
zr = *in3r++;
/* multiply quaternions */
w = wl * wr;
x = wl * xr;
y = wl * yr;
z = wl * zr;
w -= xl * xr;
x += xl * wr;
y -= xl * zr;
z += xl * yr;
w -= yl * yr;
x += yl * zr;
y += yl * wr;
z -= yl * xr;
w -= zl * zr;
x -= zl * yr;
y += zl * xr;
z += zl * wr;
/* write output quaternion */
*out0++ = w;
*out1++ = x;
*out2++ = y;
*out3++ = z;
}
return (word+3);
}
static void qmult_dsp(t_qmult *x, t_signal **sp)
{
int i;
for (i=0;i<4;i++)
{
x->x_ctl.c_inputleft[i] = sp[i]->s_vec;
x->x_ctl.c_inputright[i] = sp[i+4]->s_vec;
x->x_ctl.c_output[i] = sp[i+8]->s_vec;
}
dsp_add(qmult_perform, 2, &x->x_ctl, (t_int)sp[0]->s_n);
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}
static void qmult_free(t_qmult *x)
{
}
t_class *qmult_class;
static void *qmult_new(t_floatarg channels)
{
int i;
t_qmult *x = (t_qmult *)pd_new(qmult_class);
for (i=1;i<8;i++) inlet_new(&x->x_obj, &x->x_obj.ob_pd,
gensym("signal"), gensym("signal"));
for (i=0;i<4;i++) outlet_new(&x->x_obj, gensym("signal"));
return (void *)x;
}
void qmult_tilde_setup(void)
{
//post("qmult~ v0.1");
qmult_class = class_new(gensym("qmult~"), (t_newmethod)qmult_new,
(t_method)qmult_free, sizeof(t_qmult), 0, 0);
CLASS_MAINSIGNALIN(qmult_class, t_qmult, x_f);
class_addmethod(qmult_class, (t_method)qmult_dsp, gensym("dsp"), A_CANT, 0);