diff options
Diffstat (limited to 'src/include/glm/ext/quaternion_geometric.inl')
| -rw-r--r-- | src/include/glm/ext/quaternion_geometric.inl | 36 |
1 files changed, 36 insertions, 0 deletions
diff --git a/src/include/glm/ext/quaternion_geometric.inl b/src/include/glm/ext/quaternion_geometric.inl new file mode 100644 index 0000000..da4e9f4 --- /dev/null +++ b/src/include/glm/ext/quaternion_geometric.inl @@ -0,0 +1,36 @@ +namespace glm
+{
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER T dot(qua<T, Q> const& x, qua<T, Q> const& y)
+ {
+ GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'dot' accepts only floating-point inputs");
+ return detail::compute_dot<qua<T, Q>, T, detail::is_aligned<Q>::value>::call(x, y);
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER T length(qua<T, Q> const& q)
+ {
+ return glm::sqrt(dot(q, q));
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> normalize(qua<T, Q> const& q)
+ {
+ T len = length(q);
+ if(len <= static_cast<T>(0)) // Problem
+ return qua<T, Q>(static_cast<T>(1), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0));
+ T oneOverLen = static_cast<T>(1) / len;
+ return qua<T, Q>(q.w * oneOverLen, q.x * oneOverLen, q.y * oneOverLen, q.z * oneOverLen);
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> cross(qua<T, Q> const& q1, qua<T, Q> const& q2)
+ {
+ return qua<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);
+ }
+}//namespace glm
+
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