| 1 | #include "../trigonometric.hpp" |
| 2 | #include "../exponential.hpp" |
| 3 | #include "../ext/quaternion_geometric.hpp" |
| 4 | #include <limits> |
| 5 | |
| 6 | namespace glm{ |
| 7 | namespace detail |
| 8 | { |
| 9 | template <typename T> |
| 10 | struct genTypeTrait<qua<T> > |
| 11 | { |
| 12 | static const genTypeEnum GENTYPE = GENTYPE_QUAT; |
| 13 | }; |
| 14 | |
| 15 | template<typename T, qualifier Q, bool Aligned> |
| 16 | struct compute_dot<qua<T, Q>, T, Aligned> |
| 17 | { |
| 18 | static GLM_FUNC_QUALIFIER T call(qua<T, Q> const& a, qua<T, Q> const& b) |
| 19 | { |
| 20 | vec<4, T, Q> tmp(a.x * b.x, a.y * b.y, a.z * b.z, a.w * b.w); |
| 21 | return (tmp.x + tmp.y) + (tmp.z + tmp.w); |
| 22 | } |
| 23 | }; |
| 24 | |
| 25 | template<typename T, qualifier Q, bool Aligned> |
| 26 | struct compute_quat_add |
| 27 | { |
| 28 | static qua<T, Q> call(qua<T, Q> const& q, qua<T, Q> const& p) |
| 29 | { |
| 30 | return qua<T, Q>(q.w + p.w, q.x + p.x, q.y + p.y, q.z + p.z); |
| 31 | } |
| 32 | }; |
| 33 | |
| 34 | template<typename T, qualifier Q, bool Aligned> |
| 35 | struct compute_quat_sub |
| 36 | { |
| 37 | static qua<T, Q> call(qua<T, Q> const& q, qua<T, Q> const& p) |
| 38 | { |
| 39 | return qua<T, Q>(q.w - p.w, q.x - p.x, q.y - p.y, q.z - p.z); |
| 40 | } |
| 41 | }; |
| 42 | |
| 43 | template<typename T, qualifier Q, bool Aligned> |
| 44 | struct compute_quat_mul_scalar |
| 45 | { |
| 46 | static qua<T, Q> call(qua<T, Q> const& q, T s) |
| 47 | { |
| 48 | return qua<T, Q>(q.w * s, q.x * s, q.y * s, q.z * s); |
| 49 | } |
| 50 | }; |
| 51 | |
| 52 | template<typename T, qualifier Q, bool Aligned> |
| 53 | struct compute_quat_div_scalar |
| 54 | { |
| 55 | static qua<T, Q> call(qua<T, Q> const& q, T s) |
| 56 | { |
| 57 | return qua<T, Q>(q.w / s, q.x / s, q.y / s, q.z / s); |
| 58 | } |
| 59 | }; |
| 60 | |
| 61 | template<typename T, qualifier Q, bool Aligned> |
| 62 | struct compute_quat_mul_vec4 |
| 63 | { |
| 64 | static vec<4, T, Q> call(qua<T, Q> const& q, vec<4, T, Q> const& v) |
| 65 | { |
| 66 | return vec<4, T, Q>(q * vec<3, T, Q>(v), v.w); |
| 67 | } |
| 68 | }; |
| 69 | }//namespace detail |
| 70 | |
| 71 | // -- Component accesses -- |
| 72 | |
| 73 | template<typename T, qualifier Q> |
| 74 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR T & qua<T, Q>::operator[](typename qua<T, Q>::length_type i) |
| 75 | { |
| 76 | assert(i >= 0 && i < this->length()); |
| 77 | return (&x)[i]; |
| 78 | } |
| 79 | |
| 80 | template<typename T, qualifier Q> |
| 81 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR T const& qua<T, Q>::operator[](typename qua<T, Q>::length_type i) const |
| 82 | { |
| 83 | assert(i >= 0 && i < this->length()); |
| 84 | return (&x)[i]; |
| 85 | } |
| 86 | |
| 87 | // -- Implicit basic constructors -- |
| 88 | |
| 89 | # if GLM_CONFIG_DEFAULTED_FUNCTIONS == GLM_DISABLE |
| 90 | template<typename T, qualifier Q> |
| 91 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua() |
| 92 | # if GLM_CONFIG_DEFAULTED_FUNCTIONS != GLM_DISABLE |
| 93 | : x(0), y(0), z(0), w(1) |
| 94 | # endif |
| 95 | {} |
| 96 | |
| 97 | template<typename T, qualifier Q> |
| 98 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(qua<T, Q> const& q) |
| 99 | : x(q.x), y(q.y), z(q.z), w(q.w) |
| 100 | {} |
| 101 | # endif |
| 102 | |
| 103 | template<typename T, qualifier Q> |
| 104 | template<qualifier P> |
| 105 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(qua<T, P> const& q) |
| 106 | : x(q.x), y(q.y), z(q.z), w(q.w) |
| 107 | {} |
| 108 | |
| 109 | // -- Explicit basic constructors -- |
| 110 | |
| 111 | template<typename T, qualifier Q> |
| 112 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(T s, vec<3, T, Q> const& v) |
| 113 | : x(v.x), y(v.y), z(v.z), w(s) |
| 114 | {} |
| 115 | |
| 116 | template <typename T, qualifier Q> |
| 117 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(T _w, T _x, T _y, T _z) |
| 118 | : x(_x), y(_y), z(_z), w(_w) |
| 119 | {} |
| 120 | |
| 121 | // -- Conversion constructors -- |
| 122 | |
| 123 | template<typename T, qualifier Q> |
| 124 | template<typename U, qualifier P> |
| 125 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(qua<U, P> const& q) |
| 126 | : x(static_cast<T>(q.x)) |
| 127 | , y(static_cast<T>(q.y)) |
| 128 | , z(static_cast<T>(q.z)) |
| 129 | , w(static_cast<T>(q.w)) |
| 130 | {} |
| 131 | |
| 132 | //template<typename valType> |
| 133 | //GLM_FUNC_QUALIFIER qua<valType>::qua |
| 134 | //( |
| 135 | // valType const& pitch, |
| 136 | // valType const& yaw, |
| 137 | // valType const& roll |
| 138 | //) |
| 139 | //{ |
| 140 | // vec<3, valType> eulerAngle(pitch * valType(0.5), yaw * valType(0.5), roll * valType(0.5)); |
| 141 | // vec<3, valType> c = glm::cos(eulerAngle * valType(0.5)); |
| 142 | // vec<3, valType> s = glm::sin(eulerAngle * valType(0.5)); |
| 143 | // |
| 144 | // this->w = c.x * c.y * c.z + s.x * s.y * s.z; |
| 145 | // this->x = s.x * c.y * c.z - c.x * s.y * s.z; |
| 146 | // this->y = c.x * s.y * c.z + s.x * c.y * s.z; |
| 147 | // this->z = c.x * c.y * s.z - s.x * s.y * c.z; |
| 148 | //} |
| 149 | |
| 150 | template<typename T, qualifier Q> |
| 151 | GLM_FUNC_QUALIFIER qua<T, Q>::qua(vec<3, T, Q> const& u, vec<3, T, Q> const& v) |
| 152 | { |
| 153 | T norm_u_norm_v = sqrt(dot(u, u) * dot(v, v)); |
| 154 | T real_part = norm_u_norm_v + dot(u, v); |
| 155 | vec<3, T, Q> t; |
| 156 | |
| 157 | if(real_part < static_cast<T>(1.e-6f) * norm_u_norm_v) |
| 158 | { |
| 159 | // If u and v are exactly opposite, rotate 180 degrees |
| 160 | // around an arbitrary orthogonal axis. Axis normalisation |
| 161 | // can happen later, when we normalise the quaternion. |
| 162 | real_part = static_cast<T>(0); |
| 163 | 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); |
| 164 | } |
| 165 | else |
| 166 | { |
| 167 | // Otherwise, build quaternion the standard way. |
| 168 | t = cross(u, v); |
| 169 | } |
| 170 | |
| 171 | *this = normalize(qua<T, Q>(real_part, t.x, t.y, t.z)); |
| 172 | } |
| 173 | |
| 174 | template<typename T, qualifier Q> |
| 175 | GLM_FUNC_QUALIFIER qua<T, Q>::qua(vec<3, T, Q> const& eulerAngle) |
| 176 | { |
| 177 | vec<3, T, Q> c = glm::cos(eulerAngle * T(0.5)); |
| 178 | vec<3, T, Q> s = glm::sin(eulerAngle * T(0.5)); |
| 179 | |
| 180 | this->w = c.x * c.y * c.z + s.x * s.y * s.z; |
| 181 | this->x = s.x * c.y * c.z - c.x * s.y * s.z; |
| 182 | this->y = c.x * s.y * c.z + s.x * c.y * s.z; |
| 183 | this->z = c.x * c.y * s.z - s.x * s.y * c.z; |
| 184 | } |
| 185 | |
| 186 | template<typename T, qualifier Q> |
| 187 | GLM_FUNC_QUALIFIER qua<T, Q>::qua(mat<3, 3, T, Q> const& m) |
| 188 | { |
| 189 | *this = quat_cast(m); |
| 190 | } |
| 191 | |
| 192 | template<typename T, qualifier Q> |
| 193 | GLM_FUNC_QUALIFIER qua<T, Q>::qua(mat<4, 4, T, Q> const& m) |
| 194 | { |
| 195 | *this = quat_cast(m); |
| 196 | } |
| 197 | |
| 198 | # if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS |
| 199 | template<typename T, qualifier Q> |
| 200 | GLM_FUNC_QUALIFIER qua<T, Q>::operator mat<3, 3, T, Q>() |
| 201 | { |
| 202 | return mat3_cast(*this); |
| 203 | } |
| 204 | |
| 205 | template<typename T, qualifier Q> |
| 206 | GLM_FUNC_QUALIFIER qua<T, Q>::operator mat<4, 4, T, Q>() |
| 207 | { |
| 208 | return mat4_cast(*this); |
| 209 | } |
| 210 | # endif//GLM_HAS_EXPLICIT_CONVERSION_OPERATORS |
| 211 | |
| 212 | // -- Unary arithmetic operators -- |
| 213 | |
| 214 | # if GLM_CONFIG_DEFAULTED_FUNCTIONS == GLM_DISABLE |
| 215 | template<typename T, qualifier Q> |
| 216 | GLM_FUNC_QUALIFIER qua<T, Q> & qua<T, Q>::operator=(qua<T, Q> const& q) |
| 217 | { |
| 218 | this->w = q.w; |
| 219 | this->x = q.x; |
| 220 | this->y = q.y; |
| 221 | this->z = q.z; |
| 222 | return *this; |
| 223 | } |
| 224 | # endif |
| 225 | |
| 226 | template<typename T, qualifier Q> |
| 227 | template<typename U> |
| 228 | GLM_FUNC_QUALIFIER qua<T, Q> & qua<T, Q>::operator=(qua<U, Q> const& q) |
| 229 | { |
| 230 | this->w = static_cast<T>(q.w); |
| 231 | this->x = static_cast<T>(q.x); |
| 232 | this->y = static_cast<T>(q.y); |
| 233 | this->z = static_cast<T>(q.z); |
| 234 | return *this; |
| 235 | } |
| 236 | |
| 237 | template<typename T, qualifier Q> |
| 238 | template<typename U> |
| 239 | GLM_FUNC_QUALIFIER qua<T, Q> & qua<T, Q>::operator+=(qua<U, Q> const& q) |
| 240 | { |
| 241 | return (*this = detail::compute_quat_add<T, Q, detail::is_aligned<Q>::value>::call(*this, qua<T, Q>(q))); |
| 242 | } |
| 243 | |
| 244 | template<typename T, qualifier Q> |
| 245 | template<typename U> |
| 246 | GLM_FUNC_QUALIFIER qua<T, Q> & qua<T, Q>::operator-=(qua<U, Q> const& q) |
| 247 | { |
| 248 | return (*this = detail::compute_quat_sub<T, Q, detail::is_aligned<Q>::value>::call(*this, qua<T, Q>(q))); |
| 249 | } |
| 250 | |
| 251 | template<typename T, qualifier Q> |
| 252 | template<typename U> |
| 253 | GLM_FUNC_QUALIFIER qua<T, Q> & qua<T, Q>::operator*=(qua<U, Q> const& r) |
| 254 | { |
| 255 | qua<T, Q> const p(*this); |
| 256 | qua<T, Q> const q(r); |
| 257 | |
| 258 | this->w = p.w * q.w - p.x * q.x - p.y * q.y - p.z * q.z; |
| 259 | this->x = p.w * q.x + p.x * q.w + p.y * q.z - p.z * q.y; |
| 260 | this->y = p.w * q.y + p.y * q.w + p.z * q.x - p.x * q.z; |
| 261 | this->z = p.w * q.z + p.z * q.w + p.x * q.y - p.y * q.x; |
| 262 | return *this; |
| 263 | } |
| 264 | |
| 265 | template<typename T, qualifier Q> |
| 266 | template<typename U> |
| 267 | GLM_FUNC_QUALIFIER qua<T, Q> & qua<T, Q>::operator*=(U s) |
| 268 | { |
| 269 | return (*this = detail::compute_quat_mul_scalar<T, Q, detail::is_aligned<Q>::value>::call(*this, static_cast<U>(s))); |
| 270 | } |
| 271 | |
| 272 | template<typename T, qualifier Q> |
| 273 | template<typename U> |
| 274 | GLM_FUNC_QUALIFIER qua<T, Q> & qua<T, Q>::operator/=(U s) |
| 275 | { |
| 276 | return (*this = detail::compute_quat_div_scalar<T, Q, detail::is_aligned<Q>::value>::call(*this, static_cast<U>(s))); |
| 277 | } |
| 278 | |
| 279 | // -- Unary bit operators -- |
| 280 | |
| 281 | template<typename T, qualifier Q> |
| 282 | GLM_FUNC_QUALIFIER qua<T, Q> operator+(qua<T, Q> const& q) |
| 283 | { |
| 284 | return q; |
| 285 | } |
| 286 | |
| 287 | template<typename T, qualifier Q> |
| 288 | GLM_FUNC_QUALIFIER qua<T, Q> operator-(qua<T, Q> const& q) |
| 289 | { |
| 290 | return qua<T, Q>(-q.w, -q.x, -q.y, -q.z); |
| 291 | } |
| 292 | |
| 293 | // -- Binary operators -- |
| 294 | |
| 295 | template<typename T, qualifier Q> |
| 296 | GLM_FUNC_QUALIFIER qua<T, Q> operator+(qua<T, Q> const& q, qua<T, Q> const& p) |
| 297 | { |
| 298 | return qua<T, Q>(q) += p; |
| 299 | } |
| 300 | |
| 301 | template<typename T, qualifier Q> |
| 302 | GLM_FUNC_QUALIFIER qua<T, Q> operator-(qua<T, Q> const& q, qua<T, Q> const& p) |
| 303 | { |
| 304 | return qua<T, Q>(q) -= p; |
| 305 | } |
| 306 | |
| 307 | template<typename T, qualifier Q> |
| 308 | GLM_FUNC_QUALIFIER qua<T, Q> operator*(qua<T, Q> const& q, qua<T, Q> const& p) |
| 309 | { |
| 310 | return qua<T, Q>(q) *= p; |
| 311 | } |
| 312 | |
| 313 | template<typename T, qualifier Q> |
| 314 | GLM_FUNC_QUALIFIER vec<3, T, Q> operator*(qua<T, Q> const& q, vec<3, T, Q> const& v) |
| 315 | { |
| 316 | vec<3, T, Q> const QuatVector(q.x, q.y, q.z); |
| 317 | vec<3, T, Q> const uv(glm::cross(QuatVector, v)); |
| 318 | vec<3, T, Q> const uuv(glm::cross(QuatVector, uv)); |
| 319 | |
| 320 | return v + ((uv * q.w) + uuv) * static_cast<T>(2); |
| 321 | } |
| 322 | |
| 323 | template<typename T, qualifier Q> |
| 324 | GLM_FUNC_QUALIFIER vec<3, T, Q> operator*(vec<3, T, Q> const& v, qua<T, Q> const& q) |
| 325 | { |
| 326 | return glm::inverse(q) * v; |
| 327 | } |
| 328 | |
| 329 | template<typename T, qualifier Q> |
| 330 | GLM_FUNC_QUALIFIER vec<4, T, Q> operator*(qua<T, Q> const& q, vec<4, T, Q> const& v) |
| 331 | { |
| 332 | return detail::compute_quat_mul_vec4<T, Q, detail::is_aligned<Q>::value>::call(q, v); |
| 333 | } |
| 334 | |
| 335 | template<typename T, qualifier Q> |
| 336 | GLM_FUNC_QUALIFIER vec<4, T, Q> operator*(vec<4, T, Q> const& v, qua<T, Q> const& q) |
| 337 | { |
| 338 | return glm::inverse(q) * v; |
| 339 | } |
| 340 | |
| 341 | template<typename T, qualifier Q> |
| 342 | GLM_FUNC_QUALIFIER qua<T, Q> operator*(qua<T, Q> const& q, T const& s) |
| 343 | { |
| 344 | return qua<T, Q>( |
| 345 | q.w * s, q.x * s, q.y * s, q.z * s); |
| 346 | } |
| 347 | |
| 348 | template<typename T, qualifier Q> |
| 349 | GLM_FUNC_QUALIFIER qua<T, Q> operator*(T const& s, qua<T, Q> const& q) |
| 350 | { |
| 351 | return q * s; |
| 352 | } |
| 353 | |
| 354 | template<typename T, qualifier Q> |
| 355 | GLM_FUNC_QUALIFIER qua<T, Q> operator/(qua<T, Q> const& q, T const& s) |
| 356 | { |
| 357 | return qua<T, Q>( |
| 358 | q.w / s, q.x / s, q.y / s, q.z / s); |
| 359 | } |
| 360 | |
| 361 | // -- Boolean operators -- |
| 362 | |
| 363 | template<typename T, qualifier Q> |
| 364 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR bool operator==(qua<T, Q> const& q1, qua<T, Q> const& q2) |
| 365 | { |
| 366 | return q1.x == q2.x && q1.y == q2.y && q1.z == q2.z && q1.w == q2.w; |
| 367 | } |
| 368 | |
| 369 | template<typename T, qualifier Q> |
| 370 | GLM_FUNC_QUALIFIER GLM_CONSTEXPR bool operator!=(qua<T, Q> const& q1, qua<T, Q> const& q2) |
| 371 | { |
| 372 | return q1.x != q2.x || q1.y != q2.y || q1.z != q2.z || q1.w != q2.w; |
| 373 | } |
| 374 | }//namespace glm |
| 375 | |
| 376 | #if GLM_CONFIG_SIMD == GLM_ENABLE |
| 377 | # include "type_quat_simd.inl" |
| 378 | #endif |
| 379 | |