d3dx8: Implement D3DXQuaternionRotationMatrix.

dlls/d3dx8/d3dx8.spec

@@ -50,7 +50,7 @@
 @ stdcall D3DXMatrixShadow(ptr ptr ptr)
 @ stdcall D3DXMatrixReflect(ptr ptr)
 @ stdcall D3DXQuaternionToAxisAngle(ptr ptr ptr)
-@ stub D3DXQuaternionRotationMatrix
+@ stdcall D3DXQuaternionRotationMatrix(ptr ptr)
 @ stdcall D3DXQuaternionRotationAxis(ptr ptr long)
 @ stub D3DXQuaternionRotationYawPitchRoll
 @ stdcall D3DXQuaternionMultiply(ptr ptr ptr)

dlls/d3dx8/math.c

@@ -655,6 +655,57 @@ D3DXQUATERNION* WINAPI D3DXQuaternionRotationAxis(D3DXQUATERNION *pout, CONST D3
     return pout;
 }
 
+D3DXQUATERNION* WINAPI D3DXQuaternionRotationMatrix(D3DXQUATERNION *pout, CONST D3DXMATRIX *pm)
+{
+    int i, maxi;
+    FLOAT maxdiag, S, trace;
+
+    trace = pm->u.m[0][0] + pm->u.m[1][1] + pm->u.m[2][2] + 1.0f;
+    if ( trace > 0.0f)
+    {
+     pout->x = ( pm->u.m[1][2] - pm->u.m[2][1] ) / ( 2.0f * sqrt(trace) );
+     pout->y = ( pm->u.m[2][0] - pm->u.m[0][2] ) / ( 2.0f * sqrt(trace) );
+     pout->z = ( pm->u.m[0][1] - pm->u.m[1][0] ) / ( 2.0f * sqrt(trace) );
+     pout->w = sqrt(trace) / 2.0f;
+     return pout;
+     }
+    maxi = 0;
+    maxdiag = pm->u.m[0][0];
+    for (i=1; i<3; i++)
+    {
+     if ( pm->u.m[i][i] > maxdiag )
+     {
+      maxi = i;
+      maxdiag = pm->u.m[i][i];
+     }
+    }
+    switch( maxi )
+    {
+     case 0:
+       S = 2.0f * sqrt(1.0f + pm->u.m[0][0] - pm->u.m[1][1] - pm->u.m[2][2]);
+       pout->x = 0.25f * S;
+       pout->y = ( pm->u.m[0][1] + pm->u.m[1][0] ) / S;
+       pout->z = ( pm->u.m[0][2] + pm->u.m[2][0] ) / S;
+       pout->w = ( pm->u.m[1][2] - pm->u.m[2][1] ) / S;
+     break;
+     case 1:
+       S = 2.0f * sqrt(1.0f + pm->u.m[1][1] - pm->u.m[0][0] - pm->u.m[2][2]);
+       pout->x = ( pm->u.m[0][1] + pm->u.m[1][0] ) / S;
+       pout->y = 0.25f * S;
+       pout->z = ( pm->u.m[1][2] + pm->u.m[2][1] ) / S;
+       pout->w = ( pm->u.m[2][0] - pm->u.m[0][2] ) / S;
+     break;
+     case 2:
+       S = 2.0f * sqrt(1.0f + pm->u.m[2][2] - pm->u.m[0][0] - pm->u.m[1][1]);
+       pout->x = ( pm->u.m[0][2] + pm->u.m[2][0] ) / S;
+       pout->y = ( pm->u.m[1][2] + pm->u.m[2][1] ) / S;
+       pout->z = 0.25f * S;
+       pout->w = ( pm->u.m[0][1] - pm->u.m[1][0] ) / S;
+     break;
+    }
+    return pout;
+}
+
 D3DXQUATERNION* WINAPI D3DXQuaternionSlerp(D3DXQUATERNION *pout, CONST D3DXQUATERNION *pq1, CONST D3DXQUATERNION *pq2, FLOAT t)
 {
     FLOAT dot, epsilon;

dlls/d3dx8/tests/math.c

@@ -552,6 +552,7 @@ static void D3DXPlaneTest(void)
 
 static void D3X8QuaternionTest(void)
 {
+    D3DXMATRIX mat;
     D3DXQUATERNION expectedquat, gotquat, Nq, nul, q, r, s, t, u;
     LPD3DXQUATERNION funcpointer;
     D3DXVECTOR3 axis, expectedvec;
@@ -668,6 +669,38 @@ static void D3X8QuaternionTest(void)
     D3DXQuaternionRotationAxis(&gotquat,&axis,angle);
     expect_vec4(expectedquat,gotquat);
 
+/*_______________D3DXQuaternionRotationMatrix___________________*/
+    /* test when the trace is >0 */
+    U(mat).m[0][1] = 5.0f; U(mat).m[0][2] = 7.0f; U(mat).m[0][3] = 8.0f;
+    U(mat).m[1][0] = 11.0f; U(mat).m[1][2] = 16.0f; U(mat).m[1][3] = 33.0f;
+    U(mat).m[2][0] = 19.0f; U(mat).m[2][1] = -21.0f; U(mat).m[2][3] = 43.0f;
+    U(mat).m[3][0] = 2.0f; U(mat).m[3][1] = 3.0f; U(mat).m[3][2] = -4.0f;
+    U(mat).m[0][0] = 10.0f; U(mat).m[1][1] = 20.0f; U(mat).m[2][2] = 30.0f;
+    U(mat).m[3][3] = 48.0f;
+    expectedquat.x = 2.368682f; expectedquat.y = 0.768221f; expectedquat.z = -0.384111f; expectedquat.w = 3.905125f;
+    D3DXQuaternionRotationMatrix(&gotquat,&mat);
+    expect_vec4(expectedquat,gotquat);
+    /* test the case when the greater element is (2,2) */
+    U(mat).m[0][1] = 5.0f; U(mat).m[0][2] = 7.0f; U(mat).m[0][3] = 8.0f;
+    U(mat).m[1][0] = 11.0f; U(mat).m[1][2] = 16.0f; U(mat).m[1][3] = 33.0f;
+    U(mat).m[2][0] = 19.0f; U(mat).m[2][1] = -21.0f; U(mat).m[2][3] = 43.0f;
+    U(mat).m[3][0] = 2.0f; U(mat).m[3][1] = 3.0f; U(mat).m[3][2] = -4.0f;
+    U(mat).m[0][0] = -10.0f; U(mat).m[1][1] = -60.0f; U(mat).m[2][2] = 40.0f;
+    U(mat).m[3][3] = 48.0f;
+    expectedquat.x = 1.233905f; expectedquat.y = -0.237290f; expectedquat.z = 5.267827f; expectedquat.w = -0.284747f;
+    D3DXQuaternionRotationMatrix(&gotquat,&mat);
+    expect_vec4(expectedquat,gotquat);
+    /* test the case when the greater element is (1,1) */
+    U(mat).m[0][1] = 5.0f; U(mat).m[0][2] = 7.0f; U(mat).m[0][3] = 8.0f;
+    U(mat).m[1][0] = 11.0f; U(mat).m[1][2] = 16.0f; U(mat).m[1][3] = 33.0f;
+    U(mat).m[2][0] = 19.0f; U(mat).m[2][1] = -21.0f; U(mat).m[2][3] = 43.0f;
+    U(mat).m[3][0] = 2.0f; U(mat).m[3][1] = 3.0f; U(mat).m[3][2] = -4.0f;
+    U(mat).m[0][0] = -10.0f; U(mat).m[1][1] = 60.0f; U(mat).m[2][2] = -80.0f;
+    U(mat).m[3][3] = 48.0f;
+    expectedquat.x = 0.651031f; expectedquat.y = 6.144103f; expectedquat.z = -0.203447f; expectedquat.w = 0.488273f;
+    D3DXQuaternionRotationMatrix(&gotquat,&mat);
+    expect_vec4(expectedquat,gotquat);
+
 /*_______________D3DXQuaternionSlerp________________________*/
     expectedquat.x = -0.2f; expectedquat.y = 2.6f; expectedquat.z = 1.3f; expectedquat.w = 9.1f;
     D3DXQuaternionSlerp(&gotquat,&q,&r,scale);

include/d3dx8math.h

@@ -307,6 +307,7 @@ D3DXQUATERNION* WINAPI D3DXQuaternionInverse(D3DXQUATERNION *pout, CONST D3DXQUA
 D3DXQUATERNION* WINAPI D3DXQuaternionMultiply(D3DXQUATERNION *pout, CONST D3DXQUATERNION *pq1, CONST D3DXQUATERNION *pq2);
 D3DXQUATERNION* WINAPI D3DXQuaternionNormalize(D3DXQUATERNION *pout, CONST D3DXQUATERNION *pq);
 D3DXQUATERNION* WINAPI D3DXQuaternionRotationAxis(D3DXQUATERNION *pout, CONST D3DXVECTOR3 *pv, FLOAT angle);
+D3DXQUATERNION* WINAPI D3DXQuaternionRotationMatrix(D3DXQUATERNION *pout, CONST D3DXMATRIX *pm);
 D3DXQUATERNION* WINAPI D3DXQuaternionSlerp(D3DXQUATERNION *pout, CONST D3DXQUATERNION *pq1, CONST D3DXQUATERNION *pq2, FLOAT t);
 D3DXQUATERNION* WINAPI D3DXQuaternionSquad(D3DXQUATERNION *pout, CONST D3DXQUATERNION *pq1, CONST D3DXQUATERNION *pq2, CONST D3DXQUATERNION *pq3, CONST D3DXQUATERNION *pq4, FLOAT t);
 void WINAPI D3DXQuaternionToAxisAngle(CONST D3DXQUATERNION *pq, D3DXVECTOR3 *paxis, FLOAT *pangle);