diff options
Diffstat (limited to 'src/include/glm/ext/quaternion_common.inl')
| -rw-r--r-- | src/include/glm/ext/quaternion_common.inl | 144 |
1 files changed, 144 insertions, 0 deletions
diff --git a/src/include/glm/ext/quaternion_common.inl b/src/include/glm/ext/quaternion_common.inl new file mode 100644 index 0000000..af4d888 --- /dev/null +++ b/src/include/glm/ext/quaternion_common.inl @@ -0,0 +1,144 @@ +namespace glm
+{
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> mix(qua<T, Q> const& x, qua<T, Q> const& y, T a)
+ {
+ GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'mix' only accept floating-point inputs");
+
+ T const 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 > static_cast<T>(1) - epsilon<T>())
+ {
+ // Linear interpolation
+ return qua<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((static_cast<T>(1) - a) * angle) * x + sin(a * angle) * y) / sin(angle);
+ }
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> lerp(qua<T, Q> const& x, qua<T, Q> const& y, T a)
+ {
+ GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'lerp' only accept floating-point inputs");
+
+ // Lerp is only defined in [0, 1]
+ assert(a >= static_cast<T>(0));
+ assert(a <= static_cast<T>(1));
+
+ return x * (static_cast<T>(1) - a) + (y * a);
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> slerp(qua<T, Q> const& x, qua<T, Q> const& y, T a)
+ {
+ GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'slerp' only accept floating-point inputs");
+
+ qua<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 < static_cast<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 > static_cast<T>(1) - epsilon<T>())
+ {
+ // Linear interpolation
+ return qua<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((static_cast<T>(1) - a) * angle) * x + sin(a * angle) * z) / sin(angle);
+ }
+ }
+
+ template<typename T, typename S, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> slerp(qua<T, Q> const& x, qua<T, Q> const& y, T a, S k)
+ {
+ GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'slerp' only accept floating-point inputs");
+ GLM_STATIC_ASSERT(std::numeric_limits<S>::is_integer, "'slerp' only accept integer for spin count");
+
+ qua<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 < static_cast<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 > static_cast<T>(1) - epsilon<T>())
+ {
+ // Linear interpolation
+ return qua<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
+ {
+ // Graphics Gems III, page 96
+ T angle = acos(cosTheta);
+ T phi = angle + k * glm::pi<T>();
+ return (sin(angle - a * phi)* x + sin(a * phi) * z) / sin(angle);
+ }
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> conjugate(qua<T, Q> const& q)
+ {
+ return qua<T, Q>(q.w, -q.x, -q.y, -q.z);
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> inverse(qua<T, Q> const& q)
+ {
+ return conjugate(q) / dot(q, q);
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER vec<4, bool, Q> isnan(qua<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(qua<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_CONFIG_SIMD == GLM_ENABLE
+# include "quaternion_common_simd.inl"
+#endif
+
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