diff options
Diffstat (limited to 'src/include/glm/detail/type_quat.inl')
| -rw-r--r-- | src/include/glm/detail/type_quat.inl | 408 |
1 files changed, 408 insertions, 0 deletions
diff --git a/src/include/glm/detail/type_quat.inl b/src/include/glm/detail/type_quat.inl new file mode 100644 index 0000000..f2b5a28 --- /dev/null +++ b/src/include/glm/detail/type_quat.inl @@ -0,0 +1,408 @@ +#include "../trigonometric.hpp"
+#include "../exponential.hpp"
+#include "../ext/quaternion_geometric.hpp"
+#include <limits>
+
+namespace glm{
+namespace detail
+{
+ template <typename T>
+ struct genTypeTrait<qua<T> >
+ {
+ static const genTypeEnum GENTYPE = GENTYPE_QUAT;
+ };
+
+ template<typename T, qualifier Q, bool Aligned>
+ struct compute_dot<qua<T, Q>, T, Aligned>
+ {
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR static T call(qua<T, Q> const& a, qua<T, Q> const& b)
+ {
+ vec<4, T, Q> tmp(a.w * b.w, a.x * b.x, a.y * b.y, a.z * b.z);
+ return (tmp.x + tmp.y) + (tmp.z + tmp.w);
+ }
+ };
+
+ template<typename T, qualifier Q, bool Aligned>
+ struct compute_quat_add
+ {
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR static qua<T, Q> call(qua<T, Q> const& q, qua<T, Q> const& p)
+ {
+ return qua<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
+ {
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR static qua<T, Q> call(qua<T, Q> const& q, qua<T, Q> const& p)
+ {
+ return qua<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
+ {
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR static qua<T, Q> call(qua<T, Q> const& q, T s)
+ {
+ return qua<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
+ {
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR static qua<T, Q> call(qua<T, Q> const& q, T s)
+ {
+ return qua<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
+ {
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR static vec<4, T, Q> call(qua<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 GLM_CONSTEXPR T & qua<T, Q>::operator[](typename qua<T, Q>::length_type i)
+ {
+ assert(i >= 0 && i < this->length());
+# ifdef GLM_FORCE_QUAT_DATA_WXYZ
+ return (&w)[i];
+# else
+ return (&x)[i];
+# endif
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR T const& qua<T, Q>::operator[](typename qua<T, Q>::length_type i) const
+ {
+ assert(i >= 0 && i < this->length());
+# ifdef GLM_FORCE_QUAT_DATA_WXYZ
+ return (&w)[i];
+# else
+ return (&x)[i];
+# endif
+ }
+
+ // -- Implicit basic constructors --
+
+# if GLM_CONFIG_DEFAULTED_FUNCTIONS == GLM_DISABLE
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua()
+# if GLM_CONFIG_CTOR_INIT != GLM_CTOR_INIT_DISABLE
+# ifdef GLM_FORCE_QUAT_DATA_WXYZ
+ : w(1), x(0), y(0), z(0)
+# else
+ : x(0), y(0), z(0), w(1)
+# endif
+# endif
+ {}
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(qua<T, Q> const& q)
+# ifdef GLM_FORCE_QUAT_DATA_WXYZ
+ : w(q.w), x(q.x), y(q.y), z(q.z)
+# else
+ : x(q.x), y(q.y), z(q.z), w(q.w)
+# endif
+ {}
+# endif
+
+ template<typename T, qualifier Q>
+ template<qualifier P>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(qua<T, P> const& q)
+# ifdef GLM_FORCE_QUAT_DATA_WXYZ
+ : w(q.w), x(q.x), y(q.y), z(q.z)
+# else
+ : x(q.x), y(q.y), z(q.z), w(q.w)
+# endif
+ {}
+
+ // -- Explicit basic constructors --
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(T s, vec<3, T, Q> const& v)
+# ifdef GLM_FORCE_QUAT_DATA_WXYZ
+ : w(s), x(v.x), y(v.y), z(v.z)
+# else
+ : x(v.x), y(v.y), z(v.z), w(s)
+# endif
+ {}
+
+ template <typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(T _w, T _x, T _y, T _z)
+# ifdef GLM_FORCE_QUAT_DATA_WXYZ
+ : w(_w), x(_x), y(_y), z(_z)
+# else
+ : x(_x), y(_y), z(_z), w(_w)
+# endif
+ {}
+
+ // -- Conversion constructors --
+
+ template<typename T, qualifier Q>
+ template<typename U, qualifier P>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(qua<U, P> const& q)
+# ifdef GLM_FORCE_QUAT_DATA_WXYZ
+ : w(static_cast<T>(q.w)), x(static_cast<T>(q.x)), y(static_cast<T>(q.y)), z(static_cast<T>(q.z))
+# else
+ : x(static_cast<T>(q.x)), y(static_cast<T>(q.y)), z(static_cast<T>(q.z)), w(static_cast<T>(q.w))
+# endif
+ {}
+
+ //template<typename valType>
+ //GLM_FUNC_QUALIFIER qua<valType>::qua
+ //(
+ // 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 qua<T, Q>::qua(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(qua<T, Q>(real_part, t.x, t.y, t.z));
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(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 qua<T, Q>::qua(mat<3, 3, T, Q> const& m)
+ {
+ *this = quat_cast(m);
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q>::qua(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 qua<T, Q>::operator mat<3, 3, T, Q>() const
+ {
+ return mat3_cast(*this);
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q>::operator mat<4, 4, T, Q>() const
+ {
+ return mat4_cast(*this);
+ }
+# endif//GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
+
+ // -- Unary arithmetic operators --
+
+# if GLM_CONFIG_DEFAULTED_FUNCTIONS == GLM_DISABLE
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator=(qua<T, Q> const& q)
+ {
+ this->w = q.w;
+ this->x = q.x;
+ this->y = q.y;
+ this->z = q.z;
+ return *this;
+ }
+# endif
+
+ template<typename T, qualifier Q>
+ template<typename U>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator=(qua<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 GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator+=(qua<U, Q> const& q)
+ {
+ return (*this = detail::compute_quat_add<T, Q, detail::is_aligned<Q>::value>::call(*this, qua<T, Q>(q)));
+ }
+
+ template<typename T, qualifier Q>
+ template<typename U>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator-=(qua<U, Q> const& q)
+ {
+ return (*this = detail::compute_quat_sub<T, Q, detail::is_aligned<Q>::value>::call(*this, qua<T, Q>(q)));
+ }
+
+ template<typename T, qualifier Q>
+ template<typename U>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator*=(qua<U, Q> const& r)
+ {
+ qua<T, Q> const p(*this);
+ qua<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 GLM_CONSTEXPR qua<T, Q> & qua<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 GLM_CONSTEXPR qua<T, Q> & qua<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 GLM_CONSTEXPR qua<T, Q> operator+(qua<T, Q> const& q)
+ {
+ return q;
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator-(qua<T, Q> const& q)
+ {
+ return qua<T, Q>(-q.w, -q.x, -q.y, -q.z);
+ }
+
+ // -- Binary operators --
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator+(qua<T, Q> const& q, qua<T, Q> const& p)
+ {
+ return qua<T, Q>(q) += p;
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator-(qua<T, Q> const& q, qua<T, Q> const& p)
+ {
+ return qua<T, Q>(q) -= p;
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator*(qua<T, Q> const& q, qua<T, Q> const& p)
+ {
+ return qua<T, Q>(q) *= p;
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR vec<3, T, Q> operator*(qua<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 GLM_CONSTEXPR vec<3, T, Q> operator*(vec<3, T, Q> const& v, qua<T, Q> const& q)
+ {
+ return glm::inverse(q) * v;
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR vec<4, T, Q> operator*(qua<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 GLM_CONSTEXPR vec<4, T, Q> operator*(vec<4, T, Q> const& v, qua<T, Q> const& q)
+ {
+ return glm::inverse(q) * v;
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator*(qua<T, Q> const& q, T const& s)
+ {
+ return qua<T, Q>(
+ q.w * s, q.x * s, q.y * s, q.z * s);
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator*(T const& s, qua<T, Q> const& q)
+ {
+ return q * s;
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator/(qua<T, Q> const& q, T const& s)
+ {
+ return qua<T, Q>(
+ q.w / s, q.x / s, q.y / s, q.z / s);
+ }
+
+ // -- Boolean operators --
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR bool operator==(qua<T, Q> const& q1, qua<T, Q> const& q2)
+ {
+ return q1.x == q2.x && q1.y == q2.y && q1.z == q2.z && q1.w == q2.w;
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR bool operator!=(qua<T, Q> const& q1, qua<T, Q> const& q2)
+ {
+ return q1.x != q2.x || q1.y != q2.y || q1.z != q2.z || q1.w != q2.w;
+ }
+}//namespace glm
+
+#if GLM_CONFIG_SIMD == GLM_ENABLE
+# include "type_quat_simd.inl"
+#endif
+
|