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Diffstat (limited to 'external/include/glm/gtc/quaternion.inl')
| -rw-r--r-- | external/include/glm/gtc/quaternion.inl | 808 |
1 files changed, 0 insertions, 808 deletions
diff --git a/external/include/glm/gtc/quaternion.inl b/external/include/glm/gtc/quaternion.inl deleted file mode 100644 index df4a5f7..0000000 --- a/external/include/glm/gtc/quaternion.inl +++ /dev/null @@ -1,808 +0,0 @@ -/// @ref gtc_quaternion -/// @file glm/gtc/quaternion.inl - -#include "../trigonometric.hpp" -#include "../geometric.hpp" -#include "../exponential.hpp" -#include "../detail/compute_vector_relational.hpp" -#include "epsilon.hpp" -#include <limits> - -namespace glm{ -namespace detail -{ - template<typename T, qualifier Q, bool Aligned> - struct compute_dot<tquat<T, Q>, T, Aligned> - { - static GLM_FUNC_QUALIFIER T call(tquat<T, Q> const& a, tquat<T, Q> const& b) - { - vec<4, T, Q> tmp(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); - return (tmp.x + tmp.y) + (tmp.z + tmp.w); - } - }; - - template<typename T, qualifier Q, bool Aligned> - struct compute_quat_add - { - static tquat<T, Q> call(tquat<T, Q> const& q, tquat<T, Q> const& p) - { - return tquat<T, Q>(q.w + p.w, q.x + p.x, q.y + p.y, q.z + p.z); - } - }; - - template<typename T, qualifier Q, bool Aligned> - struct compute_quat_sub - { - static tquat<T, Q> call(tquat<T, Q> const& q, tquat<T, Q> const& p) - { - return tquat<T, Q>(q.w - p.w, q.x - p.x, q.y - p.y, q.z - p.z); - } - }; - - template<typename T, qualifier Q, bool Aligned> - struct compute_quat_mul_scalar - { - static tquat<T, Q> call(tquat<T, Q> const& q, T s) - { - return tquat<T, Q>(q.w * s, q.x * s, q.y * s, q.z * s); - } - }; - - template<typename T, qualifier Q, bool Aligned> - struct compute_quat_div_scalar - { - static tquat<T, Q> call(tquat<T, Q> const& q, T s) - { - return tquat<T, Q>(q.w / s, q.x / s, q.y / s, q.z / s); - } - }; - - template<typename T, qualifier Q, bool Aligned> - struct compute_quat_mul_vec4 - { - static vec<4, T, Q> call(tquat<T, Q> const& q, vec<4, T, Q> const& v) - { - return vec<4, T, Q>(q * vec<3, T, Q>(v), v.w); - } - }; -}//namespace detail - - // -- Component accesses -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER T & tquat<T, Q>::operator[](typename tquat<T, Q>::length_type i) - { - assert(i >= 0 && i < this->length()); - return (&x)[i]; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER T const& tquat<T, Q>::operator[](typename tquat<T, Q>::length_type i) const - { - assert(i >= 0 && i < this->length()); - return (&x)[i]; - } - - // -- Implicit basic constructors -- - -# if !GLM_HAS_DEFAULTED_FUNCTIONS || defined(GLM_FORCE_CTOR_INIT) - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tquat<T, Q>::tquat() -# ifdef GLM_FORCE_CTOR_INIT - : x(0), y(0), z(0), w(1) -# endif - {} -# endif - -# if !GLM_HAS_DEFAULTED_FUNCTIONS - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tquat<T, Q>::tquat(tquat<T, Q> const& q) - : x(q.x), y(q.y), z(q.z), w(q.w) - {} -# endif//!GLM_HAS_DEFAULTED_FUNCTIONS - - template<typename T, qualifier Q> - template<qualifier P> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tquat<T, Q>::tquat(tquat<T, P> const& q) - : x(q.x), y(q.y), z(q.z), w(q.w) - {} - - // -- Explicit basic constructors -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tquat<T, Q>::tquat(T s, vec<3, T, Q> const& v) - : x(v.x), y(v.y), z(v.z), w(s) - {} - - template <typename T, qualifier Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tquat<T, Q>::tquat(T _w, T _x, T _y, T _z) - : x(_x), y(_y), z(_z), w(_w) - {} - - // -- Conversion constructors -- - - template<typename T, qualifier Q> - template<typename U, qualifier P> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tquat<T, Q>::tquat(tquat<U, P> const& q) - : x(static_cast<T>(q.x)) - , y(static_cast<T>(q.y)) - , z(static_cast<T>(q.z)) - , w(static_cast<T>(q.w)) - {} - - //template<typename valType> - //GLM_FUNC_QUALIFIER tquat<valType>::tquat - //( - // valType const& pitch, - // valType const& yaw, - // valType const& roll - //) - //{ - // vec<3, valType> eulerAngle(pitch * valType(0.5), yaw * valType(0.5), roll * valType(0.5)); - // vec<3, valType> c = glm::cos(eulerAngle * valType(0.5)); - // vec<3, valType> s = glm::sin(eulerAngle * valType(0.5)); - // - // this->w = c.x * c.y * c.z + s.x * s.y * s.z; - // this->x = s.x * c.y * c.z - c.x * s.y * s.z; - // this->y = c.x * s.y * c.z + s.x * c.y * s.z; - // this->z = c.x * c.y * s.z - s.x * s.y * c.z; - //} - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q>::tquat(vec<3, T, Q> const& u, vec<3, T, Q> const& v) - { - T norm_u_norm_v = sqrt(dot(u, u) * dot(v, v)); - T real_part = norm_u_norm_v + dot(u, v); - vec<3, T, Q> t; - - if(real_part < static_cast<T>(1.e-6f) * norm_u_norm_v) - { - // If u and v are exactly opposite, rotate 180 degrees - // around an arbitrary orthogonal axis. Axis normalisation - // can happen later, when we normalise the quaternion. - real_part = static_cast<T>(0); - t = abs(u.x) > abs(u.z) ? vec<3, T, Q>(-u.y, u.x, static_cast<T>(0)) : vec<3, T, Q>(static_cast<T>(0), -u.z, u.y); - } - else - { - // Otherwise, build quaternion the standard way. - t = cross(u, v); - } - - *this = normalize(tquat<T, Q>(real_part, t.x, t.y, t.z)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q>::tquat(vec<3, T, Q> const& eulerAngle) - { - vec<3, T, Q> c = glm::cos(eulerAngle * T(0.5)); - vec<3, T, Q> s = glm::sin(eulerAngle * T(0.5)); - - this->w = c.x * c.y * c.z + s.x * s.y * s.z; - this->x = s.x * c.y * c.z - c.x * s.y * s.z; - this->y = c.x * s.y * c.z + s.x * c.y * s.z; - this->z = c.x * c.y * s.z - s.x * s.y * c.z; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q>::tquat(mat<3, 3, T, Q> const& m) - { - *this = quat_cast(m); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q>::tquat(mat<4, 4, T, Q> const& m) - { - *this = quat_cast(m); - } - -# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q>::operator mat<3, 3, T, Q>() - { - return mat3_cast(*this); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q>::operator mat<4, 4, T, Q>() - { - return mat4_cast(*this); - } -# endif//GLM_HAS_EXPLICIT_CONVERSION_OPERATORS - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> conjugate(tquat<T, Q> const& q) - { - return tquat<T, Q>(q.w, -q.x, -q.y, -q.z); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> inverse(tquat<T, Q> const& q) - { - return conjugate(q) / dot(q, q); - } - - // -- Unary arithmetic operators -- - -# if !GLM_HAS_DEFAULTED_FUNCTIONS - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> & tquat<T, Q>::operator=(tquat<T, Q> const& q) - { - this->w = q.w; - this->x = q.x; - this->y = q.y; - this->z = q.z; - return *this; - } -# endif//!GLM_HAS_DEFAULTED_FUNCTIONS - - template<typename T, qualifier Q> - template<typename U> - GLM_FUNC_QUALIFIER tquat<T, Q> & tquat<T, Q>::operator=(tquat<U, Q> const& q) - { - this->w = static_cast<T>(q.w); - this->x = static_cast<T>(q.x); - this->y = static_cast<T>(q.y); - this->z = static_cast<T>(q.z); - return *this; - } - - template<typename T, qualifier Q> - template<typename U> - GLM_FUNC_QUALIFIER tquat<T, Q> & tquat<T, Q>::operator+=(tquat<U, Q> const& q) - { - return (*this = detail::compute_quat_add<T, Q, detail::is_aligned<Q>::value>::call(*this, tquat<T, Q>(q))); - } - - template<typename T, qualifier Q> - template<typename U> - GLM_FUNC_QUALIFIER tquat<T, Q> & tquat<T, Q>::operator-=(tquat<U, Q> const& q) - { - return (*this = detail::compute_quat_sub<T, Q, detail::is_aligned<Q>::value>::call(*this, tquat<T, Q>(q))); - } - - template<typename T, qualifier Q> - template<typename U> - GLM_FUNC_QUALIFIER tquat<T, Q> & tquat<T, Q>::operator*=(tquat<U, Q> const& r) - { - tquat<T, Q> const p(*this); - tquat<T, Q> const q(r); - - this->w = p.w * q.w - p.x * q.x - p.y * q.y - p.z * q.z; - this->x = p.w * q.x + p.x * q.w + p.y * q.z - p.z * q.y; - this->y = p.w * q.y + p.y * q.w + p.z * q.x - p.x * q.z; - this->z = p.w * q.z + p.z * q.w + p.x * q.y - p.y * q.x; - return *this; - } - - template<typename T, qualifier Q> - template<typename U> - GLM_FUNC_QUALIFIER tquat<T, Q> & tquat<T, Q>::operator*=(U s) - { - return (*this = detail::compute_quat_mul_scalar<T, Q, detail::is_aligned<Q>::value>::call(*this, static_cast<U>(s))); - } - - template<typename T, qualifier Q> - template<typename U> - GLM_FUNC_QUALIFIER tquat<T, Q> & tquat<T, Q>::operator/=(U s) - { - return (*this = detail::compute_quat_div_scalar<T, Q, detail::is_aligned<Q>::value>::call(*this, static_cast<U>(s))); - } - - // -- Unary bit operators -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> operator+(tquat<T, Q> const& q) - { - return q; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> operator-(tquat<T, Q> const& q) - { - return tquat<T, Q>(-q.w, -q.x, -q.y, -q.z); - } - - // -- Binary operators -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> operator+(tquat<T, Q> const& q, tquat<T, Q> const& p) - { - return tquat<T, Q>(q) += p; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> operator-(tquat<T, Q> const& q, tquat<T, Q> const& p) - { - return tquat<T, Q>(q) -= p; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> operator*(tquat<T, Q> const& q, tquat<T, Q> const& p) - { - return tquat<T, Q>(q) *= p; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<3, T, Q> operator*(tquat<T, Q> const& q, vec<3, T, Q> const& v) - { - vec<3, T, Q> const QuatVector(q.x, q.y, q.z); - vec<3, T, Q> const uv(glm::cross(QuatVector, v)); - vec<3, T, Q> const uuv(glm::cross(QuatVector, uv)); - - return v + ((uv * q.w) + uuv) * static_cast<T>(2); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<3, T, Q> operator*(vec<3, T, Q> const& v, tquat<T, Q> const& q) - { - return glm::inverse(q) * v; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, T, Q> operator*(tquat<T, Q> const& q, vec<4, T, Q> const& v) - { - return detail::compute_quat_mul_vec4<T, Q, detail::is_aligned<Q>::value>::call(q, v); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, T, Q> operator*(vec<4, T, Q> const& v, tquat<T, Q> const& q) - { - return glm::inverse(q) * v; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> operator*(tquat<T, Q> const& q, T const& s) - { - return tquat<T, Q>( - q.w * s, q.x * s, q.y * s, q.z * s); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> operator*(T const& s, tquat<T, Q> const& q) - { - return q * s; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> operator/(tquat<T, Q> const& q, T const& s) - { - return tquat<T, Q>( - q.w / s, q.x / s, q.y / s, q.z / s); - } - - // -- Boolean operators -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER bool operator==(tquat<T, Q> const& q1, tquat<T, Q> const& q2) - { - return all(epsilonEqual(q1, q2, epsilon<T>())); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER bool operator!=(tquat<T, Q> const& q1, tquat<T, Q> const& q2) - { - return any(epsilonNotEqual(q1, q2, epsilon<T>())); - } - - // -- Operations -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER T dot(tquat<T, Q> const& x, tquat<T, Q> const& y) - { - GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'dot' accepts only floating-point inputs"); - return detail::compute_dot<tquat<T, Q>, T, detail::is_aligned<Q>::value>::call(x, y); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER T length(tquat<T, Q> const& q) - { - return glm::sqrt(dot(q, q)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> normalize(tquat<T, Q> const& q) - { - T len = length(q); - if(len <= T(0)) // Problem - return tquat<T, Q>(static_cast<T>(1), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0)); - T oneOverLen = T(1) / len; - return tquat<T, Q>(q.w * oneOverLen, q.x * oneOverLen, q.y * oneOverLen, q.z * oneOverLen); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> cross(tquat<T, Q> const& q1, tquat<T, Q> const& q2) - { - return tquat<T, Q>( - q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z, - q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y, - q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z, - q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x); - } -/* - // (x * sin(1 - a) * angle / sin(angle)) + (y * sin(a) * angle / sin(angle)) - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> mix(tquat<T, Q> const& x, tquat<T, Q> const& y, T const& a) - { - if(a <= T(0)) return x; - if(a >= T(1)) return y; - - float fCos = dot(x, y); - tquat<T, Q> y2(y); //BUG!!! tquat<T, Q> y2; - if(fCos < T(0)) - { - y2 = -y; - fCos = -fCos; - } - - //if(fCos > 1.0f) // problem - float k0, k1; - if(fCos > T(0.9999)) - { - k0 = T(1) - a; - k1 = T(0) + a; //BUG!!! 1.0f + a; - } - else - { - T fSin = sqrt(T(1) - fCos * fCos); - T fAngle = atan(fSin, fCos); - T fOneOverSin = static_cast<T>(1) / fSin; - k0 = sin((T(1) - a) * fAngle) * fOneOverSin; - k1 = sin((T(0) + a) * fAngle) * fOneOverSin; - } - - return tquat<T, Q>( - k0 * x.w + k1 * y2.w, - k0 * x.x + k1 * y2.x, - k0 * x.y + k1 * y2.y, - k0 * x.z + k1 * y2.z); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> mix2 - ( - tquat<T, Q> const& x, - tquat<T, Q> const& y, - T const& a - ) - { - bool flip = false; - if(a <= static_cast<T>(0)) return x; - if(a >= static_cast<T>(1)) return y; - - T cos_t = dot(x, y); - if(cos_t < T(0)) - { - cos_t = -cos_t; - flip = true; - } - - T alpha(0), beta(0); - - if(T(1) - cos_t < 1e-7) - beta = static_cast<T>(1) - alpha; - else - { - T theta = acos(cos_t); - T sin_t = sin(theta); - beta = sin(theta * (T(1) - alpha)) / sin_t; - alpha = sin(alpha * theta) / sin_t; - } - - if(flip) - alpha = -alpha; - - return normalize(beta * x + alpha * y); - } -*/ - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> mix(tquat<T, Q> const& x, tquat<T, Q> const& y, T a) - { - T cosTheta = dot(x, y); - - // Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator - if(cosTheta > T(1) - epsilon<T>()) - { - // Linear interpolation - return tquat<T, Q>( - mix(x.w, y.w, a), - mix(x.x, y.x, a), - mix(x.y, y.y, a), - mix(x.z, y.z, a)); - } - else - { - // Essential Mathematics, page 467 - T angle = acos(cosTheta); - return (sin((T(1) - a) * angle) * x + sin(a * angle) * y) / sin(angle); - } - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> lerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T a) - { - // Lerp is only defined in [0, 1] - assert(a >= static_cast<T>(0)); - assert(a <= static_cast<T>(1)); - - return x * (T(1) - a) + (y * a); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> slerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T a) - { - tquat<T, Q> z = y; - - T cosTheta = dot(x, y); - - // If cosTheta < 0, the interpolation will take the long way around the sphere. - // To fix this, one quat must be negated. - if (cosTheta < T(0)) - { - z = -y; - cosTheta = -cosTheta; - } - - // Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator - if(cosTheta > T(1) - epsilon<T>()) - { - // Linear interpolation - return tquat<T, Q>( - mix(x.w, z.w, a), - mix(x.x, z.x, a), - mix(x.y, z.y, a), - mix(x.z, z.z, a)); - } - else - { - // Essential Mathematics, page 467 - T angle = acos(cosTheta); - return (sin((T(1) - a) * angle) * x + sin(a * angle) * z) / sin(angle); - } - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> rotate(tquat<T, Q> const& q, T const& angle, vec<3, T, Q> const& v) - { - vec<3, T, Q> Tmp = v; - - // Axis of rotation must be normalised - T len = glm::length(Tmp); - if(abs(len - T(1)) > T(0.001)) - { - T oneOverLen = static_cast<T>(1) / len; - Tmp.x *= oneOverLen; - Tmp.y *= oneOverLen; - Tmp.z *= oneOverLen; - } - - T const AngleRad(angle); - T const Sin = sin(AngleRad * T(0.5)); - - return q * tquat<T, Q>(cos(AngleRad * T(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin); - //return gtc::quaternion::cross(q, tquat<T, Q>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<3, T, Q> eulerAngles(tquat<T, Q> const& x) - { - return vec<3, T, Q>(pitch(x), yaw(x), roll(x)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER T roll(tquat<T, Q> const& q) - { - return static_cast<T>(atan(static_cast<T>(2) * (q.x * q.y + q.w * q.z), q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER T pitch(tquat<T, Q> const& q) - { - //return T(atan(T(2) * (q.y * q.z + q.w * q.x), q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z)); - const T y = static_cast<T>(2) * (q.y * q.z + q.w * q.x); - const T x = q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z; - - if(detail::compute_equal<T>::call(y, static_cast<T>(0)) && detail::compute_equal<T>::call(x, static_cast<T>(0))) //avoid atan2(0,0) - handle singularity - Matiis - return static_cast<T>(static_cast<T>(2) * atan(q.x,q.w)); - - return static_cast<T>(atan(y,x)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER T yaw(tquat<T, Q> const& q) - { - return asin(clamp(static_cast<T>(-2) * (q.x * q.z - q.w * q.y), static_cast<T>(-1), static_cast<T>(1))); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER mat<3, 3, T, Q> mat3_cast(tquat<T, Q> const& q) - { - mat<3, 3, T, Q> Result(T(1)); - T qxx(q.x * q.x); - T qyy(q.y * q.y); - T qzz(q.z * q.z); - T qxz(q.x * q.z); - T qxy(q.x * q.y); - T qyz(q.y * q.z); - T qwx(q.w * q.x); - T qwy(q.w * q.y); - T qwz(q.w * q.z); - - Result[0][0] = T(1) - T(2) * (qyy + qzz); - Result[0][1] = T(2) * (qxy + qwz); - Result[0][2] = T(2) * (qxz - qwy); - - Result[1][0] = T(2) * (qxy - qwz); - Result[1][1] = T(1) - T(2) * (qxx + qzz); - Result[1][2] = T(2) * (qyz + qwx); - - Result[2][0] = T(2) * (qxz + qwy); - Result[2][1] = T(2) * (qyz - qwx); - Result[2][2] = T(1) - T(2) * (qxx + qyy); - return Result; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER mat<4, 4, T, Q> mat4_cast(tquat<T, Q> const& q) - { - return mat<4, 4, T, Q>(mat3_cast(q)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> quat_cast(mat<3, 3, T, Q> const& m) - { - T fourXSquaredMinus1 = m[0][0] - m[1][1] - m[2][2]; - T fourYSquaredMinus1 = m[1][1] - m[0][0] - m[2][2]; - T fourZSquaredMinus1 = m[2][2] - m[0][0] - m[1][1]; - T fourWSquaredMinus1 = m[0][0] + m[1][1] + m[2][2]; - - int biggestIndex = 0; - T fourBiggestSquaredMinus1 = fourWSquaredMinus1; - if(fourXSquaredMinus1 > fourBiggestSquaredMinus1) - { - fourBiggestSquaredMinus1 = fourXSquaredMinus1; - biggestIndex = 1; - } - if(fourYSquaredMinus1 > fourBiggestSquaredMinus1) - { - fourBiggestSquaredMinus1 = fourYSquaredMinus1; - biggestIndex = 2; - } - if(fourZSquaredMinus1 > fourBiggestSquaredMinus1) - { - fourBiggestSquaredMinus1 = fourZSquaredMinus1; - biggestIndex = 3; - } - - T biggestVal = sqrt(fourBiggestSquaredMinus1 + static_cast<T>(1)) * static_cast<T>(0.5); - T mult = static_cast<T>(0.25) / biggestVal; - - switch(biggestIndex) - { - case 0: - return tquat<T, Q>(biggestVal, (m[1][2] - m[2][1]) * mult, (m[2][0] - m[0][2]) * mult, (m[0][1] - m[1][0]) * mult); - case 1: - return tquat<T, Q>((m[1][2] - m[2][1]) * mult, biggestVal, (m[0][1] + m[1][0]) * mult, (m[2][0] + m[0][2]) * mult); - case 2: - return tquat<T, Q>((m[2][0] - m[0][2]) * mult, (m[0][1] + m[1][0]) * mult, biggestVal, (m[1][2] + m[2][1]) * mult); - case 3: - return tquat<T, Q>((m[0][1] - m[1][0]) * mult, (m[2][0] + m[0][2]) * mult, (m[1][2] + m[2][1]) * mult, biggestVal); - default: // Silence a -Wswitch-default warning in GCC. Should never actually get here. Assert is just for sanity. - assert(false); - return tquat<T, Q>(1, 0, 0, 0); - } - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> quat_cast(mat<4, 4, T, Q> const& m4) - { - return quat_cast(mat<3, 3, T, Q>(m4)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER T angle(tquat<T, Q> const& x) - { - return acos(x.w) * static_cast<T>(2); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<3, T, Q> axis(tquat<T, Q> const& x) - { - T tmp1 = static_cast<T>(1) - x.w * x.w; - if(tmp1 <= static_cast<T>(0)) - return vec<3, T, Q>(0, 0, 1); - T tmp2 = static_cast<T>(1) / sqrt(tmp1); - return vec<3, T, Q>(x.x * tmp2, x.y * tmp2, x.z * tmp2); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> angleAxis(T const& angle, vec<3, T, Q> const& v) - { - tquat<T, Q> Result; - - T const a(angle); - T const s = glm::sin(a * static_cast<T>(0.5)); - - Result.w = glm::cos(a * static_cast<T>(0.5)); - Result.x = v.x * s; - Result.y = v.y * s; - Result.z = v.z * s; - return Result; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, bool, Q> lessThan(tquat<T, Q> const& x, tquat<T, Q> const& y) - { - vec<4, bool, Q> Result; - for(length_t i = 0; i < x.length(); ++i) - Result[i] = x[i] < y[i]; - return Result; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, bool, Q> lessThanEqual(tquat<T, Q> const& x, tquat<T, Q> const& y) - { - vec<4, bool, Q> Result; - for(length_t i = 0; i < x.length(); ++i) - Result[i] = x[i] <= y[i]; - return Result; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, bool, Q> greaterThan(tquat<T, Q> const& x, tquat<T, Q> const& y) - { - vec<4, bool, Q> Result; - for(length_t i = 0; i < x.length(); ++i) - Result[i] = x[i] > y[i]; - return Result; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, bool, Q> greaterThanEqual(tquat<T, Q> const& x, tquat<T, Q> const& y) - { - vec<4, bool, Q> Result; - for(length_t i = 0; i < x.length(); ++i) - Result[i] = x[i] >= y[i]; - return Result; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, bool, Q> equal(tquat<T, Q> const& x, tquat<T, Q> const& y) - { - vec<4, bool, Q> Result; - for(length_t i = 0; i < x.length(); ++i) - Result[i] = detail::compute_equal<T>::call(x[i], y[i]); - return Result; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, bool, Q> notEqual(tquat<T, Q> const& x, tquat<T, Q> const& y) - { - vec<4, bool, Q> Result; - for(length_t i = 0; i < x.length(); ++i) - Result[i] = !detail::compute_equal<T>::call(x[i], y[i]); - return Result; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, bool, Q> isnan(tquat<T, Q> const& q) - { - GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'isnan' only accept floating-point inputs"); - - return vec<4, bool, Q>(isnan(q.x), isnan(q.y), isnan(q.z), isnan(q.w)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, bool, Q> isinf(tquat<T, Q> const& q) - { - GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'isinf' only accept floating-point inputs"); - - return vec<4, bool, Q>(isinf(q.x), isinf(q.y), isinf(q.z), isinf(q.w)); - } -}//namespace glm - -#if GLM_ARCH != GLM_ARCH_PURE && GLM_HAS_ALIGNED_TYPE -# include "quaternion_simd.inl" -#endif - |