diff options
Diffstat (limited to 'src/include/glm/gtc/quaternion.inl')
| -rw-r--r-- | src/include/glm/gtc/quaternion.inl | 202 |
1 files changed, 202 insertions, 0 deletions
diff --git a/src/include/glm/gtc/quaternion.inl b/src/include/glm/gtc/quaternion.inl new file mode 100644 index 0000000..9edf6fc --- /dev/null +++ b/src/include/glm/gtc/quaternion.inl @@ -0,0 +1,202 @@ +#include "../trigonometric.hpp"
+#include "../geometric.hpp"
+#include "../exponential.hpp"
+#include "epsilon.hpp"
+#include <limits>
+
+namespace glm
+{
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER vec<3, T, Q> eulerAngles(qua<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(qua<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(qua<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));
+ T const y = static_cast<T>(2) * (q.y * q.z + q.w * q.x);
+ T const x = q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z;
+
+ if(all(equal(vec<2, T, Q>(x, y), vec<2, T, Q>(0), epsilon<T>()))) //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(qua<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(qua<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(qua<T, Q> const& q)
+ {
+ return mat<4, 4, T, Q>(mat3_cast(q));
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<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 qua<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 qua<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 qua<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 qua<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 qua<T, Q>(1, 0, 0, 0);
+ }
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<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 vec<4, bool, Q> lessThan(qua<T, Q> const& x, qua<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(qua<T, Q> const& x, qua<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(qua<T, Q> const& x, qua<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(qua<T, Q> const& x, qua<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 qua<T, Q> quatLookAt(vec<3, T, Q> const& direction, vec<3, T, Q> const& up)
+ {
+# if GLM_CONFIG_CLIP_CONTROL & GLM_CLIP_CONTROL_LH_BIT
+ return quatLookAtLH(direction, up);
+# else
+ return quatLookAtRH(direction, up);
+# endif
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> quatLookAtRH(vec<3, T, Q> const& direction, vec<3, T, Q> const& up)
+ {
+ mat<3, 3, T, Q> Result;
+
+ Result[2] = -direction;
+ vec<3, T, Q> const& Right = cross(up, Result[2]);
+ Result[0] = Right * inversesqrt(max(static_cast<T>(0.00001), dot(Right, Right)));
+ Result[1] = cross(Result[2], Result[0]);
+
+ return quat_cast(Result);
+ }
+
+ template<typename T, qualifier Q>
+ GLM_FUNC_QUALIFIER qua<T, Q> quatLookAtLH(vec<3, T, Q> const& direction, vec<3, T, Q> const& up)
+ {
+ mat<3, 3, T, Q> Result;
+
+ Result[2] = direction;
+ vec<3, T, Q> const& Right = cross(up, Result[2]);
+ Result[0] = Right * inversesqrt(max(static_cast<T>(0.00001), dot(Right, Right)));
+ Result[1] = cross(Result[2], Result[0]);
+
+ return quat_cast(Result);
+ }
+}//namespace glm
+
+#if GLM_CONFIG_SIMD == GLM_ENABLE
+# include "quaternion_simd.inl"
+#endif
+
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