From bf240d7eeaa89657462b705849fde56e54e237db Mon Sep 17 00:00:00 2001
From: Frederico Linhares <fred@linhares.blue>
Date: Tue, 6 Feb 2024 17:37:20 -0300
Subject: refa Use quaternion for orientation

---
 src/orientation_3d.cpp | 135 +++++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 135 insertions(+)
 create mode 100644 src/orientation_3d.cpp

(limited to 'src/orientation_3d.cpp')

diff --git a/src/orientation_3d.cpp b/src/orientation_3d.cpp
new file mode 100644
index 0000000..cb42984
--- /dev/null
+++ b/src/orientation_3d.cpp
@@ -0,0 +1,135 @@
+/*
+ * Copyright 2022-2024 Frederico de Oliveira Linhares
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#define _USE_MATH_DEFINES
+
+#include "orientation_3d.hpp"
+
+#include "vector_3d.hpp"
+
+void
+cg_free_orientation_3d(mrb_state *mrb, void* obj)
+{
+  auto ptr = static_cast<std::shared_ptr<glm::quat>*>(obj);
+
+  ptr->~shared_ptr();
+  mrb_free(mrb, ptr);
+}
+
+const struct mrb_data_type cg_orientation_3d_type = {
+  "CG_Orientation3D", cg_free_orientation_3d};
+
+static mrb_value
+cg_cOrientation3D_initialize(mrb_state *mrb, mrb_value self)
+{
+  mrb_float x, y, z;
+  std::shared_ptr<glm::quat> *ptr;
+
+  mrb_get_args(mrb, "fff", &x, &y, &z);
+  ptr = (std::shared_ptr<glm::quat>*)DATA_PTR(self);
+  if(ptr) mrb_free(mrb, ptr);
+  ptr = (std::shared_ptr<glm::quat>*)mrb_malloc(
+    mrb, sizeof(std::shared_ptr<glm::quat>));
+
+	glm::vec3 angles(x, y, z);
+  new(ptr)std::shared_ptr<glm::quat>(
+    std::make_shared<glm::quat>(angles));
+  (**ptr) = glm::normalize(**ptr);
+
+  mrb_data_init(self, ptr, &cg_orientation_3d_type);
+  return self;
+}
+
+static mrb_value
+cg_cOrientation3D_get_w(mrb_state *mrb, mrb_value self)
+{
+  std::shared_ptr<glm::quat> *ptr =
+    (std::shared_ptr<glm::quat>*)DATA_PTR(self);
+
+  return mrb_float_value(mrb, (*ptr)->w);
+}
+
+static mrb_value
+cg_cOrientation3D_get_x(mrb_state *mrb, mrb_value self)
+{
+  std::shared_ptr<glm::quat> *ptr =
+    (std::shared_ptr<glm::quat>*)DATA_PTR(self);
+
+  return mrb_float_value(mrb, (*ptr)->x);
+}
+
+static mrb_value
+cg_cOrientation3D_get_y(mrb_state *mrb, mrb_value self)
+{
+  std::shared_ptr<glm::quat> *ptr =
+    (std::shared_ptr<glm::quat>*)DATA_PTR(self);
+
+  return mrb_float_value(mrb, (*ptr)->y);
+}
+
+static mrb_value
+cg_cOrientation3D_get_z(mrb_state *mrb, mrb_value self)
+{
+  std::shared_ptr<glm::quat> *ptr =
+    (std::shared_ptr<glm::quat>*)DATA_PTR(self);
+
+  return mrb_float_value(mrb, (*ptr)->z);
+}
+
+static mrb_value
+cg_cOrientation3D_rotate(mrb_state *mrb, mrb_value self)
+{
+  mrb_float x, y, z;
+  auto *ptr = (std::shared_ptr<glm::quat>*)DATA_PTR(self);
+
+  mrb_get_args(mrb, "fff", &x, &y, &z);
+
+  glm::vec3 angles(x, y, z);
+  glm::quat rot(angles);
+  (**ptr) *= rot;
+
+  // TODO: calling normalize for every rotation is expensive.
+  (**ptr) = glm::normalize(**ptr);
+
+  return self;
+}
+
+void
+cg_orientation_3d_init(mrb_state *mrb)
+{
+  struct RClass *cg_m, *cg_cOrientation3D;
+
+  cg_m = mrb_module_get(mrb, "CandyGear");
+  cg_cOrientation3D = mrb_define_class_under(
+    mrb, cg_m, "Orientation3D", mrb->object_class);
+  MRB_SET_INSTANCE_TT(cg_cOrientation3D, MRB_TT_DATA);
+  mrb_define_method(
+    mrb, cg_cOrientation3D, "initialize", cg_cOrientation3D_initialize,
+    MRB_ARGS_REQ(3));
+
+  mrb_define_method(
+    mrb, cg_cOrientation3D, "w", cg_cOrientation3D_get_w, MRB_ARGS_NONE());
+  mrb_define_method(
+    mrb, cg_cOrientation3D, "x", cg_cOrientation3D_get_x, MRB_ARGS_NONE());
+  mrb_define_method(
+    mrb, cg_cOrientation3D, "y", cg_cOrientation3D_get_y, MRB_ARGS_NONE());
+  mrb_define_method(
+    mrb, cg_cOrientation3D, "z", cg_cOrientation3D_get_z, MRB_ARGS_NONE());
+
+  mrb_define_method(
+    mrb, cg_cOrientation3D, "rotate", cg_cOrientation3D_rotate,
+    MRB_ARGS_REQ(3));
+}
-- 
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