| 1 | #include "../trigonometric.hpp" |
| 2 | #include "../geometric.hpp" |
| 3 | #include "../exponential.hpp" |
| 4 | #include "epsilon.hpp" |
| 5 | #include <limits> |
| 6 | |
| 7 | namespace glm |
| 8 | { |
| 9 | template<typename T, qualifier Q> |
| 10 | GLM_FUNC_QUALIFIER vec<3, T, Q> eulerAngles(qua<T, Q> const& x) |
| 11 | { |
| 12 | return vec<3, T, Q>(pitch(x), yaw(x), roll(x)); |
| 13 | } |
| 14 | |
| 15 | template<typename T, qualifier Q> |
| 16 | GLM_FUNC_QUALIFIER T roll(qua<T, Q> const& q) |
| 17 | { |
| 18 | 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)); |
| 19 | } |
| 20 | |
| 21 | template<typename T, qualifier Q> |
| 22 | GLM_FUNC_QUALIFIER T pitch(qua<T, Q> const& q) |
| 23 | { |
| 24 | //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)); |
| 25 | T const y = static_cast<T>(2) * (q.y * q.z + q.w * q.x); |
| 26 | T const x = q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z; |
| 27 | |
| 28 | if(all(equal(vec<2, T, Q>(x, y), vec<2, T, Q>(0), epsilon<T>()))) //avoid atan2(0,0) - handle singularity - Matiis |
| 29 | return static_cast<T>(static_cast<T>(2) * atan(q.x, q.w)); |
| 30 | |
| 31 | return static_cast<T>(atan(y, x)); |
| 32 | } |
| 33 | |
| 34 | template<typename T, qualifier Q> |
| 35 | GLM_FUNC_QUALIFIER T yaw(qua<T, Q> const& q) |
| 36 | { |
| 37 | return asin(clamp(static_cast<T>(-2) * (q.x * q.z - q.w * q.y), static_cast<T>(-1), static_cast<T>(1))); |
| 38 | } |
| 39 | |
| 40 | template<typename T, qualifier Q> |
| 41 | GLM_FUNC_QUALIFIER mat<3, 3, T, Q> mat3_cast(qua<T, Q> const& q) |
| 42 | { |
| 43 | mat<3, 3, T, Q> Result(T(1)); |
| 44 | T qxx(q.x * q.x); |
| 45 | T qyy(q.y * q.y); |
| 46 | T qzz(q.z * q.z); |
| 47 | T qxz(q.x * q.z); |
| 48 | T qxy(q.x * q.y); |
| 49 | T qyz(q.y * q.z); |
| 50 | T qwx(q.w * q.x); |
| 51 | T qwy(q.w * q.y); |
| 52 | T qwz(q.w * q.z); |
| 53 | |
| 54 | Result[0][0] = T(1) - T(2) * (qyy + qzz); |
| 55 | Result[0][1] = T(2) * (qxy + qwz); |
| 56 | Result[0][2] = T(2) * (qxz - qwy); |
| 57 | |
| 58 | Result[1][0] = T(2) * (qxy - qwz); |
| 59 | Result[1][1] = T(1) - T(2) * (qxx + qzz); |
| 60 | Result[1][2] = T(2) * (qyz + qwx); |
| 61 | |
| 62 | Result[2][0] = T(2) * (qxz + qwy); |
| 63 | Result[2][1] = T(2) * (qyz - qwx); |
| 64 | Result[2][2] = T(1) - T(2) * (qxx + qyy); |
| 65 | return Result; |
| 66 | } |
| 67 | |
| 68 | template<typename T, qualifier Q> |
| 69 | GLM_FUNC_QUALIFIER mat<4, 4, T, Q> mat4_cast(qua<T, Q> const& q) |
| 70 | { |
| 71 | return mat<4, 4, T, Q>(mat3_cast(q)); |
| 72 | } |
| 73 | |
| 74 | template<typename T, qualifier Q> |
| 75 | GLM_FUNC_QUALIFIER qua<T, Q> quat_cast(mat<3, 3, T, Q> const& m) |
| 76 | { |
| 77 | T fourXSquaredMinus1 = m[0][0] - m[1][1] - m[2][2]; |
| 78 | T fourYSquaredMinus1 = m[1][1] - m[0][0] - m[2][2]; |
| 79 | T fourZSquaredMinus1 = m[2][2] - m[0][0] - m[1][1]; |
| 80 | T fourWSquaredMinus1 = m[0][0] + m[1][1] + m[2][2]; |
| 81 | |
| 82 | int biggestIndex = 0; |
| 83 | T fourBiggestSquaredMinus1 = fourWSquaredMinus1; |
| 84 | if(fourXSquaredMinus1 > fourBiggestSquaredMinus1) |
| 85 | { |
| 86 | fourBiggestSquaredMinus1 = fourXSquaredMinus1; |
| 87 | biggestIndex = 1; |
| 88 | } |
| 89 | if(fourYSquaredMinus1 > fourBiggestSquaredMinus1) |
| 90 | { |
| 91 | fourBiggestSquaredMinus1 = fourYSquaredMinus1; |
| 92 | biggestIndex = 2; |
| 93 | } |
| 94 | if(fourZSquaredMinus1 > fourBiggestSquaredMinus1) |
| 95 | { |
| 96 | fourBiggestSquaredMinus1 = fourZSquaredMinus1; |
| 97 | biggestIndex = 3; |
| 98 | } |
| 99 | |
| 100 | T biggestVal = sqrt(fourBiggestSquaredMinus1 + static_cast<T>(1)) * static_cast<T>(0.5); |
| 101 | T mult = static_cast<T>(0.25) / biggestVal; |
| 102 | |
| 103 | switch(biggestIndex) |
| 104 | { |
| 105 | case 0: |
| 106 | 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); |
| 107 | case 1: |
| 108 | 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); |
| 109 | case 2: |
| 110 | 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); |
| 111 | case 3: |
| 112 | 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); |
| 113 | default: // Silence a -Wswitch-default warning in GCC. Should never actually get here. Assert is just for sanity. |
| 114 | assert(false); |
| 115 | return qua<T, Q>(1, 0, 0, 0); |
| 116 | } |
| 117 | } |
| 118 | |
| 119 | template<typename T, qualifier Q> |
| 120 | GLM_FUNC_QUALIFIER qua<T, Q> quat_cast(mat<4, 4, T, Q> const& m4) |
| 121 | { |
| 122 | return quat_cast(mat<3, 3, T, Q>(m4)); |
| 123 | } |
| 124 | |
| 125 | template<typename T, qualifier Q> |
| 126 | GLM_FUNC_QUALIFIER vec<4, bool, Q> lessThan(qua<T, Q> const& x, qua<T, Q> const& y) |
| 127 | { |
| 128 | vec<4, bool, Q> Result; |
| 129 | for(length_t i = 0; i < x.length(); ++i) |
| 130 | Result[i] = x[i] < y[i]; |
| 131 | return Result; |
| 132 | } |
| 133 | |
| 134 | template<typename T, qualifier Q> |
| 135 | GLM_FUNC_QUALIFIER vec<4, bool, Q> lessThanEqual(qua<T, Q> const& x, qua<T, Q> const& y) |
| 136 | { |
| 137 | vec<4, bool, Q> Result; |
| 138 | for(length_t i = 0; i < x.length(); ++i) |
| 139 | Result[i] = x[i] <= y[i]; |
| 140 | return Result; |
| 141 | } |
| 142 | |
| 143 | template<typename T, qualifier Q> |
| 144 | GLM_FUNC_QUALIFIER vec<4, bool, Q> greaterThan(qua<T, Q> const& x, qua<T, Q> const& y) |
| 145 | { |
| 146 | vec<4, bool, Q> Result; |
| 147 | for(length_t i = 0; i < x.length(); ++i) |
| 148 | Result[i] = x[i] > y[i]; |
| 149 | return Result; |
| 150 | } |
| 151 | |
| 152 | template<typename T, qualifier Q> |
| 153 | GLM_FUNC_QUALIFIER vec<4, bool, Q> greaterThanEqual(qua<T, Q> const& x, qua<T, Q> const& y) |
| 154 | { |
| 155 | vec<4, bool, Q> Result; |
| 156 | for(length_t i = 0; i < x.length(); ++i) |
| 157 | Result[i] = x[i] >= y[i]; |
| 158 | return Result; |
| 159 | } |
| 160 | |
| 161 | |
| 162 | template<typename T, qualifier Q> |
| 163 | GLM_FUNC_QUALIFIER qua<T, Q> quatLookAt(vec<3, T, Q> const& direction, vec<3, T, Q> const& up) |
| 164 | { |
| 165 | # if GLM_CONFIG_CLIP_CONTROL & GLM_CLIP_CONTROL_LH_BIT |
| 166 | return quatLookAtLH(direction, up); |
| 167 | # else |
| 168 | return quatLookAtRH(direction, up); |
| 169 | # endif |
| 170 | } |
| 171 | |
| 172 | template<typename T, qualifier Q> |
| 173 | GLM_FUNC_QUALIFIER qua<T, Q> quatLookAtRH(vec<3, T, Q> const& direction, vec<3, T, Q> const& up) |
| 174 | { |
| 175 | mat<3, 3, T, Q> Result; |
| 176 | |
| 177 | Result[2] = -direction; |
| 178 | Result[0] = normalize(cross(up, Result[2])); |
| 179 | Result[1] = cross(Result[2], Result[0]); |
| 180 | |
| 181 | return quat_cast(Result); |
| 182 | } |
| 183 | |
| 184 | template<typename T, qualifier Q> |
| 185 | GLM_FUNC_QUALIFIER qua<T, Q> quatLookAtLH(vec<3, T, Q> const& direction, vec<3, T, Q> const& up) |
| 186 | { |
| 187 | mat<3, 3, T, Q> Result; |
| 188 | |
| 189 | Result[2] = direction; |
| 190 | Result[0] = normalize(cross(up, Result[2])); |
| 191 | Result[1] = cross(Result[2], Result[0]); |
| 192 | |
| 193 | return quat_cast(Result); |
| 194 | } |
| 195 | }//namespace glm |
| 196 | |
| 197 | #if GLM_CONFIG_SIMD == GLM_ENABLE |
| 198 | # include "quaternion_simd.inl" |
| 199 | #endif |
| 200 | |