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quat.inc
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; Quaternion Routines
; RotM = Q1
RotMtoQ1:
ld ix,RotM
ld iy,Q1
ld a,(ix+RotM00)
ld l,(ix+RotM00+1)
ld h,(ix+RotM00+2)
ld c,(ix+RotM11)
ld e,(ix+RotM11+1)
ld d,(ix+RotM11+2)
call fAdd ; AHL = M00+M11
ld c,(ix+RotM22)
ld e,(ix+RotM22+1)
ld d,(ix+RotM22+2)
call fAdd ; AHL = M00+M11+M22
cp 0 ; A <= 0
jp z,RotMtoQB ; Relative branch exceeded :(
jp m,RotMtoQB
;RotMtoQA:
call Sqrt1plusX
ld c,a ; CHL = AHL
call fDiv2 ;dec a ; AHL /= 2
call fMult2CDE ;inc c ; CHL *= 2
ld (IY+Q_A+0),a
ld (IY+Q_A+1),l
ld (IY+Q_A+2),h
push bc \ push hl ; w
push bc \ push hl
push bc \ push hl
ld a,(ix+RotM21)
ld l,(ix+RotM21+1)
ld h,(ix+RotM21+2)
ld c,(ix+RotM12)
ld e,(ix+RotM12+1)
ld d,(ix+RotM12+2)
call fSub ; AHL = M21-M12
pop de \ pop bc ; w
call fDiv ; (M21 - M12) / w
ld ix,RotM ; clobbered by fDiv
ld (iy+Q_B+0),a
ld (iy+Q_B+1),l
ld (iy+Q_B+2),h
ld a,(ix+RotM02)
ld l,(ix+RotM02+1)
ld h,(ix+RotM02+2)
ld c,(ix+RotM20)
ld e,(ix+RotM20+1)
ld d,(ix+RotM20+2)
call fSub ; AHL = M02-M20
pop de \ pop bc ; w
call fDiv ; (M02-M20) / w
ld ix,RotM ; clobbered by fDiv
ld (iy+Q_C+0),a
ld (iy+Q_C+1),l
ld (iy+Q_C+2),h
ld a,(ix+RotM10)
ld l,(ix+RotM10+1)
ld h,(ix+RotM10+2)
ld c,(ix+RotM01)
ld e,(ix+RotM01+1)
ld d,(ix+RotM01+2)
call fSub ; AHL = M10-M01
pop de \ pop bc ; w
call fDiv ; (M10-M01) / w
ld (iy+Q_D+0),a
ld (iy+Q_D+1),l
ld (iy+Q_D+2),h
ret
RotMtoQB:
ld a,(ix+RotM00)
ld l,(ix+RotM00+1)
ld h,(ix+RotM00+2)
call fCmp ; AHL <= CDE -- M00 <= M11
ld b,c
push bc \ push de ; m11
jp z,RotMtoQC ; ACH == CDE ; Relative branch exceeded :(
jp c,RotMtoQC ; AHL < CDE ; Relative branch exceeded :(
ld c,(ix+RotM22)
ld e,(ix+RotM22+1)
ld d,(ix+RotM22+2)
call fCmp ; AHL <= CDE -- M00 <= M22
jp z,RotMtoQC ; AHL == CDE ; Relative branch exceeded :(
jp c,RotMtoQC ; AHL < CDE ; Relative branch exceeded :(
call fSub ; AHL = m00-m22
pop de \ pop bc ; m11
call fSub ; AHL = M00-m11-m22
call Sqrt1plusX ; w
ld c,a ; CHL = AHL
call fDiv2 ;dec a ; AHL / 2
call fMult2CDE ;inc c ; AHL * 2 = w
ld (iy+Q_B+0),a
ld (iy+Q_B+1),l
ld (iy+Q_B+2),h
push bc \ push hl ; w
push bc \ push hl
push bc \ push hl
ld a,(ix+RotM21)
ld l,(ix+RotM21+1)
ld h,(ix+RotM21+2)
ld c,(ix+RotM12)
ld e,(ix+RotM12+1)
ld d,(ix+RotM12+2)
call fSub ; AHL = M21-M12
pop de \ pop bc
call fDiv ; AHL = (M21-M12)/w
ld ix,RotM ; clobbered by fDiv
ld (iy+Q_A+0),a
ld (iy+Q_A+1),l
ld (iy+Q_A+2),h
ld a,(ix+RotM01)
ld l,(ix+RotM01+1)
ld h,(ix+RotM01+2)
ld c,(ix+RotM10)
ld e,(ix+RotM10+1)
ld d,(ix+RotM10+2)
call fAdd ; AHL = M01+M10
pop de \ pop bc
call fDiv ; AHL = (M01+M10)/w
ld ix,RotM ; clobbered by fDiv
ld (iy+Q_C+0),a
ld (iy+Q_C+1),l
ld (iy+Q_C+2),h
ld a,(ix+RotM02)
ld l,(ix+RotM02+1)
ld h,(ix+RotM02+2)
ld c,(ix+RotM20)
ld e,(ix+RotM20+1)
ld d,(ix+RotM20+2)
call fAdd ; AHL = M02+M20
pop de \ pop bc
call fDiv ; AHL = (M02+M20)/w
ld (iy+Q_D+0),a
ld (iy+Q_D+1),l
ld (iy+Q_D+2),h
ret
RotMtoQC:
pop hl \ pop af ; m11
; CDE = m22
call fCmp ; m11 <= m22
jp z,RotMtoQD ; m11 == m22 ; Relative branch exceeded :(
jp c,RotMtoQD ; m11 < m22 ; Relative branch exceeded :(
call fSub ; AHL = m11-m22
ld c,(ix+RotM00)
ld e,(ix+RotM00+1)
ld d,(ix+RotM00+2)
call fSub ; AHL = m11-m00-m22
call Sqrt1plusX
ld c,a
dec c
inc a
ld (iy+Q_C+0),a
ld (iy+Q_C+1),l
ld (iy+Q_C+2),h
push bc \ push de ; w
push bc \ push de
push bc \ push de
ld a,(ix+RotM02)
ld l,(ix+RotM02+1)
ld h,(ix+RotM02+2)
ld c,(ix+RotM20)
ld e,(ix+RotM20+1)
ld d,(ix+RotM20+2)
call fSub ; AHL = M02-M20
pop de \ pop bc
call fDiv ; AHL = (M02-M20)/w
ld ix,RotM ; clobbered by fDiv
ld (iy+Q_A+0),a
ld (iy+Q_A+1),l
ld (iy+Q_A+2),h
ld a,(ix+RotM01)
ld l,(ix+RotM01+1)
ld h,(ix+RotM01+2)
ld c,(ix+RotM10)
ld e,(ix+RotM10+1)
ld d,(ix+RotM10+2)
call fAdd ; AHL = M01+M10
pop de \ pop bc
call fDiv ; AHL = (M01+M10)/w
ld ix,RotM ; clobbered by fDiv
ld (iy+Q_B+0),a
ld (iy+Q_B+1),l
ld (iy+Q_B+2),h
ld a,(ix+RotM12)
ld l,(ix+RotM12+1)
ld h,(ix+RotM12+2)
ld c,(ix+RotM21)
ld e,(ix+RotM21+1)
ld d,(ix+RotM21+2)
call fAdd ; AHL = M12+M21
pop de \ pop bc
call fDiv ; AHL = (M12+M21)/w
ld (iy+Q_D+0),a
ld (iy+Q_D+1),l
ld (iy+Q_D+2),h
ret
RotMtoQD:
ex de,hl ; swap AHL / CDE
ld b,a \ ld a,c \ ld c,b
; AHL = m22, CDE = m11
call fSub ; AHL = m22 - m11
ld c,(ix+RotM00)
ld e,(ix+RotM00+1)
ld d,(ix+RotM00+2)
call fSub ; AHL = m22 - m11 - m00
call Sqrt1plusX
ld c,a
call fDiv2 ;dec a ; AHL / 2
call fMult2CDE ;inc c ; CHL * 2
ld (iy+Q_D+0),a
ld (iy+Q_D+1),l
ld (iy+Q_D+2),h
push bc \ push de ; w
push bc \ push de
push bc \ push de
ld a,(ix+RotM10)
ld l,(ix+RotM10+1)
ld h,(ix+RotM10+2)
ld c,(ix+RotM01)
ld e,(ix+RotM01+1)
ld d,(ix+RotM01+2)
call fSub ; AHL = M10-M01
pop de \ pop bc
call fDiv ; AHL = (M10-M01)/w
ld ix,RotM ; clobbered by fDiv
ld (iy+Q_A+0),a
ld (iy+Q_A+1),l
ld (iy+Q_A+2),h
ld a,(ix+RotM02)
ld l,(ix+RotM02+1)
ld h,(ix+RotM02+2)
ld c,(ix+RotM20)
ld e,(ix+RotM20+1)
ld d,(ix+RotM20+2)
call fAdd ; AHL = M02+M20
pop de \ pop bc
call fDiv ; AHL = (M02+M20)/w
ld ix,RotM ; clobbered by fDiv
ld (iy+Q_B+0),a
ld (iy+Q_B+1),l
ld (iy+Q_B+2),h
ld a,(ix+RotM21)
ld l,(ix+RotM21+1)
ld h,(ix+RotM21+2)
ld c,(ix+RotM12)
ld e,(ix+RotM12+1)
ld d,(ix+RotM12+2)
call fAdd ; AHL = M21+M12
pop de \ pop bc
call fDiv ; AHL = (M21+M12)/w
ld (iy+Q_C+0),a
ld (iy+Q_C+1),l
ld (iy+Q_C+2),h
ret
; Qr = IX*IY
; There has to be a better way
; Destroys: A,BC,DE,HL (&QC[3]+2), ABCDE'
QMult:
ld a,(IX+0)
ld l,(IX+1)
ld h,(IX+2)
ld c,(IY+0)
ld e,(IY+1)
ld d,(IY+2)
call fMult ; AHLDE = QA[0] * QB[0]
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+3)
ld l,(IX+4)
ld h,(IX+5)
ld c,(IY+3)
ld e,(IY+4)
ld d,(IY+5)
call fMult ; AHLDE = QA[1] * QB[1]
xor $80 ; neg
call fAddAcc ; AHLDE += AHLDE'
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+6)
ld l,(IX+7)
ld h,(IX+8)
ld c,(IY+6)
ld e,(IY+7)
ld d,(IY+8)
call fMult ; AHLDE = QA[2] * QB[2]
xor $80
call fAddAcc ; AHLDE += AHLDE'
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+9)
ld l,(IX+10)
ld h,(IX+11)
ld c,(IY+9)
ld e,(IY+10)
ld d,(IY+11)
call fMult ; AHLDE = QA[3] * QB[3]
xor $80
call fAddAcc ; AHLDE += AHLDE'
call fTrunc
ex de,hl
ld hl,QC ; QC[0] = result
ld (hl),a \ inc hl
ld (hl),e \ inc hl
ld (hl),d \ inc hl
push hl ; QC[1]
ld a,(IX+0)
ld l,(IX+1)
ld h,(IX+2)
ld c,(IY+3*1+0)
ld e,(IY+3*1+1)
ld d,(IY+3*1+2)
call fMult ; AHLDE = QA[0] * QB[1]
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+3)
ld l,(IX+4)
ld h,(IX+5)
ld c,(IY+3*0+0)
ld e,(IY+3*0+1)
ld d,(IY+3*0+2)
call fMult ; AHLDE = QA[1] * QB[0]
call fAddAcc ; AHLDE += AHLDE'
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+6)
ld l,(IX+7)
ld h,(IX+8)
ld c,(IY+3*3+0)
ld e,(IY+3*3+1)
ld d,(IY+3*3+2)
call fMult ; AHLDE = QA[2] * QB[3]
call fAddAcc ; AHLDE += AHLDE'
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+9)
ld l,(IX+10)
ld h,(IX+11)
ld c,(IY+3*2+0)
ld e,(IY+3*2+1)
ld d,(IY+3*2+2)
call fMult ; AHLDE = QA[3] * QB[2]
xor $80
call fAddAcc ; AHLDE += AHLDE'
call fTrunc
ex de,hl
pop hl ; QC[1] = result
ld (hl),a \ inc hl
ld (hl),e \ inc hl
ld (hl),d \ inc hl
push hl ; QC[2]
ld a,(IX+0)
ld l,(IX+1)
ld h,(IX+2)
ld c,(IY+3*2+0)
ld e,(IY+3*2+1)
ld d,(IY+3*2+2)
call fMult ; AHLDE = QA[0] * QB[2]
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+3)
ld l,(IX+4)
ld h,(IX+5)
ld c,(IY+3*3+0)
ld e,(IY+3*3+1)
ld d,(IY+3*3+2)
call fMult ; AHLDE = QA[1] * QB[3]
xor $80
call fAddAcc ; AHLDE += AHLDE'
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+6)
ld l,(IX+7)
ld h,(IX+8)
ld c,(IY+3*0+0)
ld e,(IY+3*0+1)
ld d,(IY+3*0+2)
call fMult ; AHLDE = QA[2] * QB[0]
call fAddAcc ; AHLDE += AHLDE'
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+9)
ld l,(IX+10)
ld h,(IX+11)
ld c,(IY+3*1+0)
ld e,(IY+3*1+1)
ld d,(IY+3*1+2)
call fMult ; AHLDE = QA[3] * QB[1]
call fAddAcc ; AHLDE += AHLDE'
call fTrunc
ex de,hl
pop hl ; QC[2] = result
ld (hl),a \ inc hl
ld (hl),e \ inc hl
ld (hl),d \ inc hl
push hl ; QC[3]
ld a,(IX+0)
ld l,(IX+1)
ld h,(IX+2)
ld c,(IY+3*3+0)
ld e,(IY+3*3+1)
ld d,(IY+3*3+2)
call fMult ; AHLDE = QA[0] * QB[3]
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+3)
ld l,(IX+4)
ld h,(IX+5)
ld c,(IY+3*2+0)
ld e,(IY+3*2+1)
ld d,(IY+3*2+2)
call fMult ; AHLDE = QA[1] * QB[2]
call fAddAcc ; AHLDE += AHLDE'
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+6)
ld l,(IX+7)
ld h,(IX+8)
ld c,(IY+3*1+0)
ld e,(IY+3*1+1)
ld d,(IY+3*1+2)
call fMult ; AHLDE = QA[2] * QB[1]
xor $80
call fAddAcc ; AHLDE += AHLDE'
exx \ ex af,af' ; AHLDE' = acc
ld a,(IX+9)
ld l,(IX+10)
ld h,(IX+11)
ld c,(IY+3*0+0)
ld e,(IY+3*0+1)
ld d,(IY+3*0+2)
call fMult ; AHLDE = QA[3] * QB[0]
call fAddAcc ; AHLDE += AHLDE'
call fTrunc
ex de,hl
pop hl ; QC[3] = result
ld (hl),a \ inc hl
ld (hl),e \ inc hl
ld (hl),d
ret
; QInverse(Quat *Qd, Quat *Qs) // Qd = Qs^(-1)
; (DE) = QInverse( (HL) )
; Copies the inverse of the Quat pointed to by HL to the Quat pointed by DE
; Destroys: A (exp(Qd(3)), BC ($8000)
; TStates: 295 / 41 Bytes
QInverse:
;push HL
;push DE ; store original pointers
ld bc,$8009 ; b = $80, c = 9
; Qd(0) = Qs(0)
ldi \ ldi \ ldi
; Qd(1) = -Qs(1)
ld a,(hl) \ xor b \ ld (de),a ; negate
inc hl \ inc de
ldi \ ldi
; Qd(2) = -Qs(2)
ld a,(hl) \ xor b \ ld (de),a ; negate
inc hl \ inc de
ldi \ ldi
; Qd(3) = -Qs(3)
ld a,(hl) \ xor b \ ld (de),a ; negate
inc hl \ inc de
ldi \ ldi
;pop de
;pop hl ; restore pointers
ret