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Diffstat (limited to 'external/include/glm/gtx/dual_quaternion.inl')
| -rw-r--r-- | external/include/glm/gtx/dual_quaternion.inl | 355 |
1 files changed, 0 insertions, 355 deletions
diff --git a/external/include/glm/gtx/dual_quaternion.inl b/external/include/glm/gtx/dual_quaternion.inl deleted file mode 100644 index 5c82b88..0000000 --- a/external/include/glm/gtx/dual_quaternion.inl +++ /dev/null @@ -1,355 +0,0 @@ -/// @ref gtx_dual_quaternion -/// @file glm/gtx/dual_quaternion.inl - -#include "../geometric.hpp" -#include <limits> - -namespace glm -{ - // -- Component accesses -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER typename tdualquat<T, Q>::part_type & tdualquat<T, Q>::operator[](typename tdualquat<T, Q>::length_type i) - { - assert(i >= 0 && i < this->length()); - return (&real)[i]; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER typename tdualquat<T, Q>::part_type const& tdualquat<T, Q>::operator[](typename tdualquat<T, Q>::length_type i) const - { - assert(i >= 0 && i < this->length()); - return (&real)[i]; - } - - // -- Implicit basic constructors -- - -# if !GLM_HAS_DEFAULTED_FUNCTIONS || defined(GLM_FORCE_CTOR_INIT) - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat() -# ifdef GLM_FORCE_CTOR_INIT - : real(tquat<T, Q>()) - , dual(tquat<T, Q>(0, 0, 0, 0)) -# endif - {} -# endif - -# if !GLM_HAS_DEFAULTED_FUNCTIONS - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tdualquat<T, Q> const& d) - : real(d.real) - , dual(d.dual) - {} -# endif//!GLM_HAS_DEFAULTED_FUNCTIONS - - template<typename T, qualifier Q> - template<qualifier P> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tdualquat<T, P> const& d) - : real(d.real) - , dual(d.dual) - {} - - // -- Explicit basic constructors -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tquat<T, Q> const& r) - : real(r), dual(tquat<T, Q>(0, 0, 0, 0)) - {} - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tquat<T, Q> const& q, vec<3, T, Q> const& p) - : real(q), dual( - T(-0.5) * ( p.x*q.x + p.y*q.y + p.z*q.z), - T(+0.5) * ( p.x*q.w + p.y*q.z - p.z*q.y), - T(+0.5) * (-p.x*q.z + p.y*q.w + p.z*q.x), - T(+0.5) * ( p.x*q.y - p.y*q.x + p.z*q.w)) - {} - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tquat<T, Q> const& r, tquat<T, Q> const& d) - : real(r), dual(d) - {} - - // -- Conversion constructors -- - - template<typename T, qualifier Q> - template<typename U, qualifier P> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tdualquat<U, P> const& q) - : real(q.real) - , dual(q.dual) - {} - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q>::tdualquat(mat<2, 4, T, Q> const& m) - { - *this = dualquat_cast(m); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q>::tdualquat(mat<3, 4, T, Q> const& m) - { - *this = dualquat_cast(m); - } - - // -- Unary arithmetic operators -- - -# if !GLM_HAS_DEFAULTED_FUNCTIONS - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator=(tdualquat<T, Q> const& q) - { - this->real = q.real; - this->dual = q.dual; - return *this; - } -# endif//!GLM_HAS_DEFAULTED_FUNCTIONS - - template<typename T, qualifier Q> - template<typename U> - GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator=(tdualquat<U, Q> const& q) - { - this->real = q.real; - this->dual = q.dual; - return *this; - } - - template<typename T, qualifier Q> - template<typename U> - GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator*=(U s) - { - this->real *= static_cast<T>(s); - this->dual *= static_cast<T>(s); - return *this; - } - - template<typename T, qualifier Q> - template<typename U> - GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator/=(U s) - { - this->real /= static_cast<T>(s); - this->dual /= static_cast<T>(s); - return *this; - } - - // -- Unary bit operators -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> operator+(tdualquat<T, Q> const& q) - { - return q; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> operator-(tdualquat<T, Q> const& q) - { - return tdualquat<T, Q>(-q.real, -q.dual); - } - - // -- Binary operators -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> operator+(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p) - { - return tdualquat<T, Q>(q.real + p.real,q.dual + p.dual); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> operator*(tdualquat<T, Q> const& p, tdualquat<T, Q> const& o) - { - return tdualquat<T, Q>(p.real * o.real,p.real * o.dual + p.dual * o.real); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<3, T, Q> operator*(tdualquat<T, Q> const& q, vec<3, T, Q> const& v) - { - vec<3, T, Q> const real_v3(q.real.x,q.real.y,q.real.z); - vec<3, T, Q> const dual_v3(q.dual.x,q.dual.y,q.dual.z); - return (cross(real_v3, cross(real_v3,v) + v * q.real.w + dual_v3) + dual_v3 * q.real.w - real_v3 * q.dual.w) * T(2) + v; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<3, T, Q> operator*(vec<3, T, Q> const& v, tdualquat<T, Q> const& q) - { - return glm::inverse(q) * v; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, T, Q> operator*(tdualquat<T, Q> const& q, vec<4, T, Q> const& v) - { - return vec<4, T, Q>(q * vec<3, T, Q>(v), v.w); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, T, Q> operator*(vec<4, T, Q> const& v, tdualquat<T, Q> const& q) - { - return glm::inverse(q) * v; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, T const& s) - { - return tdualquat<T, Q>(q.real * s, q.dual * s); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> const& q) - { - return q * s; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> operator/(tdualquat<T, Q> const& q, T const& s) - { - return tdualquat<T, Q>(q.real / s, q.dual / s); - } - - // -- Boolean operators -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER bool operator==(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2) - { - return (q1.real == q2.real) && (q1.dual == q2.dual); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER bool operator!=(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2) - { - return (q1.real != q2.real) || (q1.dual != q2.dual); - } - - // -- Operations -- - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> dual_quat_identity() - { - return tdualquat<T, Q>( - tquat<T, Q>(static_cast<T>(1), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0)), - tquat<T, Q>(static_cast<T>(0), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0))); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> normalize(tdualquat<T, Q> const& q) - { - return q / length(q.real); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> lerp(tdualquat<T, Q> const& x, tdualquat<T, Q> const& y, T const& a) - { - // Dual Quaternion Linear blend aka DLB: - // Lerp is only defined in [0, 1] - assert(a >= static_cast<T>(0)); - assert(a <= static_cast<T>(1)); - T const k = dot(x.real,y.real) < static_cast<T>(0) ? -a : a; - T const one(1); - return tdualquat<T, Q>(x * (one - a) + y * k); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> inverse(tdualquat<T, Q> const& q) - { - const glm::tquat<T, Q> real = conjugate(q.real); - const glm::tquat<T, Q> dual = conjugate(q.dual); - return tdualquat<T, Q>(real, dual + (real * (-2.0f * dot(real,dual)))); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER mat<2, 4, T, Q> mat2x4_cast(tdualquat<T, Q> const& x) - { - return mat<2, 4, T, Q>( x[0].x, x[0].y, x[0].z, x[0].w, x[1].x, x[1].y, x[1].z, x[1].w ); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER mat<3, 4, T, Q> mat3x4_cast(tdualquat<T, Q> const& x) - { - tquat<T, Q> r = x.real / length2(x.real); - - tquat<T, Q> const rr(r.w * x.real.w, r.x * x.real.x, r.y * x.real.y, r.z * x.real.z); - r *= static_cast<T>(2); - - T const xy = r.x * x.real.y; - T const xz = r.x * x.real.z; - T const yz = r.y * x.real.z; - T const wx = r.w * x.real.x; - T const wy = r.w * x.real.y; - T const wz = r.w * x.real.z; - - vec<4, T, Q> const a( - rr.w + rr.x - rr.y - rr.z, - xy - wz, - xz + wy, - -(x.dual.w * r.x - x.dual.x * r.w + x.dual.y * r.z - x.dual.z * r.y)); - - vec<4, T, Q> const b( - xy + wz, - rr.w + rr.y - rr.x - rr.z, - yz - wx, - -(x.dual.w * r.y - x.dual.x * r.z - x.dual.y * r.w + x.dual.z * r.x)); - - vec<4, T, Q> const c( - xz - wy, - yz + wx, - rr.w + rr.z - rr.x - rr.y, - -(x.dual.w * r.z + x.dual.x * r.y - x.dual.y * r.x - x.dual.z * r.w)); - - return mat<3, 4, T, Q>(a, b, c); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> dualquat_cast(mat<2, 4, T, Q> const& x) - { - return tdualquat<T, Q>( - tquat<T, Q>( x[0].w, x[0].x, x[0].y, x[0].z ), - tquat<T, Q>( x[1].w, x[1].x, x[1].y, x[1].z )); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tdualquat<T, Q> dualquat_cast(mat<3, 4, T, Q> const& x) - { - tquat<T, Q> real; - - T const trace = x[0].x + x[1].y + x[2].z; - if(trace > static_cast<T>(0)) - { - T const r = sqrt(T(1) + trace); - T const invr = static_cast<T>(0.5) / r; - real.w = static_cast<T>(0.5) * r; - real.x = (x[2].y - x[1].z) * invr; - real.y = (x[0].z - x[2].x) * invr; - real.z = (x[1].x - x[0].y) * invr; - } - else if(x[0].x > x[1].y && x[0].x > x[2].z) - { - T const r = sqrt(T(1) + x[0].x - x[1].y - x[2].z); - T const invr = static_cast<T>(0.5) / r; - real.x = static_cast<T>(0.5)*r; - real.y = (x[1].x + x[0].y) * invr; - real.z = (x[0].z + x[2].x) * invr; - real.w = (x[2].y - x[1].z) * invr; - } - else if(x[1].y > x[2].z) - { - T const r = sqrt(T(1) + x[1].y - x[0].x - x[2].z); - T const invr = static_cast<T>(0.5) / r; - real.x = (x[1].x + x[0].y) * invr; - real.y = static_cast<T>(0.5) * r; - real.z = (x[2].y + x[1].z) * invr; - real.w = (x[0].z - x[2].x) * invr; - } - else - { - T const r = sqrt(T(1) + x[2].z - x[0].x - x[1].y); - T const invr = static_cast<T>(0.5) / r; - real.x = (x[0].z + x[2].x) * invr; - real.y = (x[2].y + x[1].z) * invr; - real.z = static_cast<T>(0.5) * r; - real.w = (x[1].x - x[0].y) * invr; - } - - tquat<T, Q> dual; - dual.x = static_cast<T>(0.5) * ( x[0].w * real.w + x[1].w * real.z - x[2].w * real.y); - dual.y = static_cast<T>(0.5) * (-x[0].w * real.z + x[1].w * real.w + x[2].w * real.x); - dual.z = static_cast<T>(0.5) * ( x[0].w * real.y - x[1].w * real.x + x[2].w * real.w); - dual.w = -static_cast<T>(0.5) * ( x[0].w * real.x + x[1].w * real.y + x[2].w * real.z); - return tdualquat<T, Q>(real, dual); - } -}//namespace glm |