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authorNikolas <nikolas@boutalas.com>2024-10-27 12:52:55 +0200
committerNikolas <nikolas@boutalas.com>2024-10-27 12:52:55 +0200
commit43394c8a8908442982e3a7e25975c31b3c952923 (patch)
tree2facd563e29f48fe3b0653ac5c113998940b4d5e /3rdparty/include/glm/gtc/quaternion.inl
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+///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+///
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+///
+/// Restrictions:
+/// By making use of the Software for military purposes, you choose to make
+/// a Bunny unhappy.
+///
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref gtc_quaternion
+/// @file glm/gtc/quaternion.inl
+/// @date 2009-05-21 / 2011-06-15
+/// @author Christophe Riccio
+///////////////////////////////////////////////////////////////////////////////////
+
+#include "../trigonometric.hpp"
+#include "../geometric.hpp"
+#include "../exponential.hpp"
+#include <limits>
+
+namespace glm{
+namespace detail
+{
+ template <typename T, precision P>
+ struct compute_dot<tquat, T, P>
+ {
+ static GLM_FUNC_QUALIFIER T call(tquat<T, P> const & x, tquat<T, P> const & y)
+ {
+ tvec4<T, P> tmp(x.x * y.x, x.y * y.y, x.z * y.z, x.w * y.w);
+ return (tmp.x + tmp.y) + (tmp.z + tmp.w);
+ }
+ };
+}//namespace detail
+
+ //////////////////////////////////////
+ // Component accesses
+
+# ifdef GLM_FORCE_SIZE_FUNC
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tquat<T, P>::size_type tquat<T, P>::size() const
+ {
+ return 4;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER T & tquat<T, P>::operator[](typename tquat<T, P>::size_type i)
+ {
+ assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this));
+ return (&x)[i];
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER T const & tquat<T, P>::operator[](typename tquat<T, P>::size_type i) const
+ {
+ assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this));
+ return (&x)[i];
+ }
+# else
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tquat<T, P>::length_type tquat<T, P>::length() const
+ {
+ return 4;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER T & tquat<T, P>::operator[](typename tquat<T, P>::length_type i)
+ {
+ assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this));
+ return (&x)[i];
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER T const & tquat<T, P>::operator[](typename tquat<T, P>::length_type i) const
+ {
+ assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this));
+ return (&x)[i];
+ }
+# endif//GLM_FORCE_SIZE_FUNC
+
+ //////////////////////////////////////
+ // Implicit basic constructors
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat()
+# ifndef GLM_FORCE_NO_CTOR_INIT
+ : x(0), y(0), z(0), w(1)
+# endif
+ {}
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tquat<T, P> const & q)
+ : x(q.x), y(q.y), z(q.z), w(q.w)
+ {}
+
+ template <typename T, precision P>
+ template <precision Q>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tquat<T, Q> const & q)
+ : x(q.x), y(q.y), z(q.z), w(q.w)
+ {}
+
+ //////////////////////////////////////
+ // Explicit basic constructors
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat(ctor)
+ {}
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat(T const & s, tvec3<T, P> const & v)
+ : x(v.x), y(v.y), z(v.z), w(s)
+ {}
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat(T const & w, T const & x, T const & y, T const & z)
+ : x(x), y(y), z(z), w(w)
+ {}
+
+ //////////////////////////////////////////////////////////////
+ // Conversions
+
+ template <typename T, precision P>
+ template <typename U, precision Q>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tquat<U, Q> const & q)
+ : x(static_cast<T>(q.x))
+ , y(static_cast<T>(q.y))
+ , z(static_cast<T>(q.z))
+ , w(static_cast<T>(q.w))
+ {}
+
+ //template <typename valType>
+ //GLM_FUNC_QUALIFIER tquat<valType>::tquat
+ //(
+ // valType const & pitch,
+ // valType const & yaw,
+ // valType const & roll
+ //)
+ //{
+ // tvec3<valType> eulerAngle(pitch * valType(0.5), yaw * valType(0.5), roll * valType(0.5));
+ // tvec3<valType> c = glm::cos(eulerAngle * valType(0.5));
+ // tvec3<valType> s = glm::sin(eulerAngle * valType(0.5));
+ //
+ // this->w = c.x * c.y * c.z + s.x * s.y * s.z;
+ // this->x = s.x * c.y * c.z - c.x * s.y * s.z;
+ // this->y = c.x * s.y * c.z + s.x * c.y * s.z;
+ // this->z = c.x * c.y * s.z - s.x * s.y * c.z;
+ //}
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tvec3<T, P> const & u, tvec3<T, P> const & v)
+ {
+ tvec3<T, P> const LocalW(cross(u, v));
+ T Dot = detail::compute_dot<tvec3, T, P>::call(u, v);
+ tquat<T, P> q(T(1) + Dot, LocalW.x, LocalW.y, LocalW.z);
+
+ *this = normalize(q);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tvec3<T, P> const & eulerAngle)
+ {
+ tvec3<T, P> c = glm::cos(eulerAngle * T(0.5));
+ tvec3<T, P> s = glm::sin(eulerAngle * T(0.5));
+
+ this->w = c.x * c.y * c.z + s.x * s.y * s.z;
+ this->x = s.x * c.y * c.z - c.x * s.y * s.z;
+ this->y = c.x * s.y * c.z + s.x * c.y * s.z;
+ this->z = c.x * c.y * s.z - s.x * s.y * c.z;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tmat3x3<T, P> const & m)
+ {
+ *this = quat_cast(m);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tmat4x4<T, P> const & m)
+ {
+ *this = quat_cast(m);
+ }
+
+# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::operator tmat3x3<T, P>()
+ {
+ return mat3_cast(*this);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P>::operator tmat4x4<T, P>()
+ {
+ return mat4_cast(*this);
+ }
+# endif//GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> conjugate(tquat<T, P> const & q)
+ {
+ return tquat<T, P>(q.w, -q.x, -q.y, -q.z);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> inverse(tquat<T, P> const & q)
+ {
+ return conjugate(q) / dot(q, q);
+ }
+
+ //////////////////////////////////////////////////////////////
+ // tquat<valType> operators
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator=(tquat<T, P> const & q)
+ {
+ this->w = q.w;
+ this->x = q.x;
+ this->y = q.y;
+ this->z = q.z;
+ return *this;
+ }
+
+ template <typename T, precision P>
+ template <typename U>
+ GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator=(tquat<U, P> const & q)
+ {
+ this->w = static_cast<T>(q.w);
+ this->x = static_cast<T>(q.x);
+ this->y = static_cast<T>(q.y);
+ this->z = static_cast<T>(q.z);
+ return *this;
+ }
+
+ template <typename T, precision P>
+ template <typename U>
+ GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator+=(tquat<U, P> const & q)
+ {
+ this->w += static_cast<T>(q.w);
+ this->x += static_cast<T>(q.x);
+ this->y += static_cast<T>(q.y);
+ this->z += static_cast<T>(q.z);
+ return *this;
+ }
+
+ template <typename T, precision P>
+ template <typename U>
+ GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator*=(tquat<U, P> const & r)
+ {
+ tquat<T, P> const p(*this);
+ tquat<T, P> const q(r);
+
+ this->w = p.w * q.w - p.x * q.x - p.y * q.y - p.z * q.z;
+ this->x = p.w * q.x + p.x * q.w + p.y * q.z - p.z * q.y;
+ this->y = p.w * q.y + p.y * q.w + p.z * q.x - p.x * q.z;
+ this->z = p.w * q.z + p.z * q.w + p.x * q.y - p.y * q.x;
+ return *this;
+ }
+
+ template <typename T, precision P>
+ template <typename U>
+ GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator*=(U s)
+ {
+ this->w *= static_cast<U>(s);
+ this->x *= static_cast<U>(s);
+ this->y *= static_cast<U>(s);
+ this->z *= static_cast<U>(s);
+ return *this;
+ }
+
+ template <typename T, precision P>
+ template <typename U>
+ GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator/=(U s)
+ {
+ this->w /= static_cast<U>(s);
+ this->x /= static_cast<U>(s);
+ this->y /= static_cast<U>(s);
+ this->z /= static_cast<U>(s);
+ return *this;
+ }
+
+ //////////////////////////////////////////////////////////////
+ // tquat<T, P> external operators
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> operator-(tquat<T, P> const & q)
+ {
+ return tquat<T, P>(-q.w, -q.x, -q.y, -q.z);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p)
+ {
+ return tquat<T, P>(q) += p;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p)
+ {
+ return tquat<T, P>(q) *= p;
+ }
+
+ // Transformation
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v)
+ {
+ tvec3<T, P> const QuatVector(q.x, q.y, q.z);
+ tvec3<T, P> const uv(glm::cross(QuatVector, v));
+ tvec3<T, P> const uuv(glm::cross(QuatVector, uv));
+
+ return v + ((uv * q.w) + uuv) * static_cast<T>(2);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q)
+ {
+ return glm::inverse(q) * v;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v)
+ {
+ return tvec4<T, P>(q * tvec3<T, P>(v), v.w);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q)
+ {
+ return glm::inverse(q) * v;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> operator*(tquat<T, P> const & q, T const & s)
+ {
+ return tquat<T, P>(
+ q.w * s, q.x * s, q.y * s, q.z * s);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> operator*(T const & s, tquat<T, P> const & q)
+ {
+ return q * s;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> operator/(tquat<T, P> const & q, T const & s)
+ {
+ return tquat<T, P>(
+ q.w / s, q.x / s, q.y / s, q.z / s);
+ }
+
+ //////////////////////////////////////
+ // Boolean operators
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER bool operator==(tquat<T, P> const & q1, tquat<T, P> const & q2)
+ {
+ return (q1.x == q2.x) && (q1.y == q2.y) && (q1.z == q2.z) && (q1.w == q2.w);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER bool operator!=(tquat<T, P> const & q1, tquat<T, P> const & q2)
+ {
+ return (q1.x != q2.x) || (q1.y != q2.y) || (q1.z != q2.z) || (q1.w != q2.w);
+ }
+
+ ////////////////////////////////////////////////////////
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER T length(tquat<T, P> const & q)
+ {
+ return glm::sqrt(dot(q, q));
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> normalize(tquat<T, P> const & q)
+ {
+ T len = length(q);
+ if(len <= T(0)) // Problem
+ return tquat<T, P>(1, 0, 0, 0);
+ T oneOverLen = T(1) / len;
+ return tquat<T, P>(q.w * oneOverLen, q.x * oneOverLen, q.y * oneOverLen, q.z * oneOverLen);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> cross(tquat<T, P> const & q1, tquat<T, P> const & q2)
+ {
+ return tquat<T, P>(
+ 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);
+ }
+/*
+ // (x * sin(1 - a) * angle / sin(angle)) + (y * sin(a) * angle / sin(angle))
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T const & a)
+ {
+ if(a <= T(0)) return x;
+ if(a >= T(1)) return y;
+
+ float fCos = dot(x, y);
+ tquat<T, P> y2(y); //BUG!!! tquat<T, P> y2;
+ if(fCos < T(0))
+ {
+ y2 = -y;
+ fCos = -fCos;
+ }
+
+ //if(fCos > 1.0f) // problem
+ float k0, k1;
+ if(fCos > T(0.9999))
+ {
+ k0 = T(1) - a;
+ k1 = T(0) + a; //BUG!!! 1.0f + a;
+ }
+ else
+ {
+ T fSin = sqrt(T(1) - fCos * fCos);
+ T fAngle = atan(fSin, fCos);
+ T fOneOverSin = static_cast<T>(1) / fSin;
+ k0 = sin((T(1) - a) * fAngle) * fOneOverSin;
+ k1 = sin((T(0) + a) * fAngle) * fOneOverSin;
+ }
+
+ return tquat<T, P>(
+ k0 * x.w + k1 * y2.w,
+ k0 * x.x + k1 * y2.x,
+ k0 * x.y + k1 * y2.y,
+ k0 * x.z + k1 * y2.z);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> mix2
+ (
+ tquat<T, P> const & x,
+ tquat<T, P> const & y,
+ T const & a
+ )
+ {
+ bool flip = false;
+ if(a <= static_cast<T>(0)) return x;
+ if(a >= static_cast<T>(1)) return y;
+
+ T cos_t = dot(x, y);
+ if(cos_t < T(0))
+ {
+ cos_t = -cos_t;
+ flip = true;
+ }
+
+ T alpha(0), beta(0);
+
+ if(T(1) - cos_t < 1e-7)
+ beta = static_cast<T>(1) - alpha;
+ else
+ {
+ T theta = acos(cos_t);
+ T sin_t = sin(theta);
+ beta = sin(theta * (T(1) - alpha)) / sin_t;
+ alpha = sin(alpha * theta) / sin_t;
+ }
+
+ if(flip)
+ alpha = -alpha;
+
+ return normalize(beta * x + alpha * y);
+ }
+*/
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T a)
+ {
+ T 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 > T(1) - epsilon<T>())
+ {
+ // Linear interpolation
+ return tquat<T, P>(
+ 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((T(1) - a) * angle) * x + sin(a * angle) * y) / sin(angle);
+ }
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T a)
+ {
+ // Lerp is only defined in [0, 1]
+ assert(a >= static_cast<T>(0));
+ assert(a <= static_cast<T>(1));
+
+ return x * (T(1) - a) + (y * a);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T a)
+ {
+ tquat<T, P> 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 < 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 > T(1) - epsilon<T>())
+ {
+ // Linear interpolation
+ return tquat<T, P>(
+ 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((T(1) - a) * angle) * x + sin(a * angle) * z) / sin(angle);
+ }
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & v)
+ {
+ tvec3<T, P> Tmp = v;
+
+ // Axis of rotation must be normalised
+ T len = glm::length(Tmp);
+ if(abs(len - T(1)) > T(0.001))
+ {
+ T oneOverLen = static_cast<T>(1) / len;
+ Tmp.x *= oneOverLen;
+ Tmp.y *= oneOverLen;
+ Tmp.z *= oneOverLen;
+ }
+
+ T const AngleRad(angle);
+ T const Sin = sin(AngleRad * T(0.5));
+
+ return q * tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
+ //return gtc::quaternion::cross(q, tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec3<T, P> eulerAngles(tquat<T, P> const & x)
+ {
+ return tvec3<T, P>(pitch(x), yaw(x), roll(x));
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER T roll(tquat<T, P> const & q)
+ {
+ return T(atan(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, precision P>
+ GLM_FUNC_QUALIFIER T pitch(tquat<T, P> 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));
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER T yaw(tquat<T, P> const & q)
+ {
+ return asin(T(-2) * (q.x * q.z - q.w * q.y));
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat3x3<T, P> mat3_cast(tquat<T, P> const & q)
+ {
+ tmat3x3<T, P> 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] = 1 - 2 * (qyy + qzz);
+ Result[0][1] = 2 * (qxy + qwz);
+ Result[0][2] = 2 * (qxz - qwy);
+
+ Result[1][0] = 2 * (qxy - qwz);
+ Result[1][1] = 1 - 2 * (qxx + qzz);
+ Result[1][2] = 2 * (qyz + qwx);
+
+ Result[2][0] = 2 * (qxz + qwy);
+ Result[2][1] = 2 * (qyz - qwx);
+ Result[2][2] = 1 - 2 * (qxx + qyy);
+ return Result;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tmat4x4<T, P> mat4_cast(tquat<T, P> const & q)
+ {
+ return tmat4x4<T, P>(mat3_cast(q));
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> quat_cast(tmat3x3<T, P> 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 + T(1)) * T(0.5);
+ T mult = static_cast<T>(0.25) / biggestVal;
+
+ tquat<T, P> Result(uninitialize);
+ switch(biggestIndex)
+ {
+ case 0:
+ Result.w = biggestVal;
+ Result.x = (m[1][2] - m[2][1]) * mult;
+ Result.y = (m[2][0] - m[0][2]) * mult;
+ Result.z = (m[0][1] - m[1][0]) * mult;
+ break;
+ case 1:
+ Result.w = (m[1][2] - m[2][1]) * mult;
+ Result.x = biggestVal;
+ Result.y = (m[0][1] + m[1][0]) * mult;
+ Result.z = (m[2][0] + m[0][2]) * mult;
+ break;
+ case 2:
+ Result.w = (m[2][0] - m[0][2]) * mult;
+ Result.x = (m[0][1] + m[1][0]) * mult;
+ Result.y = biggestVal;
+ Result.z = (m[1][2] + m[2][1]) * mult;
+ break;
+ case 3:
+ Result.w = (m[0][1] - m[1][0]) * mult;
+ Result.x = (m[2][0] + m[0][2]) * mult;
+ Result.y = (m[1][2] + m[2][1]) * mult;
+ Result.z = biggestVal;
+ break;
+
+ default: // Silence a -Wswitch-default warning in GCC. Should never actually get here. Assert is just for sanity.
+ assert(false);
+ break;
+ }
+ return Result;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> quat_cast(tmat4x4<T, P> const & m4)
+ {
+ return quat_cast(tmat3x3<T, P>(m4));
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER T angle(tquat<T, P> const & x)
+ {
+ return acos(x.w) * T(2);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec3<T, P> axis(tquat<T, P> const & x)
+ {
+ T tmp1 = static_cast<T>(1) - x.w * x.w;
+ if(tmp1 <= static_cast<T>(0))
+ return tvec3<T, P>(0, 0, 1);
+ T tmp2 = static_cast<T>(1) / sqrt(tmp1);
+ return tvec3<T, P>(x.x * tmp2, x.y * tmp2, x.z * tmp2);
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & v)
+ {
+ tquat<T, P> Result(uninitialize);
+
+ T const a(angle);
+ T const s = glm::sin(a * static_cast<T>(0.5));
+
+ Result.w = glm::cos(a * static_cast<T>(0.5));
+ Result.x = v.x * s;
+ Result.y = v.y * s;
+ Result.z = v.z * s;
+ return Result;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y)
+ {
+ tvec4<bool, P> Result(uninitialize);
+ for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
+ Result[i] = x[i] < y[i];
+ return Result;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y)
+ {
+ tvec4<bool, P> Result(uninitialize);
+ for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
+ Result[i] = x[i] <= y[i];
+ return Result;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y)
+ {
+ tvec4<bool, P> Result(uninitialize);
+ for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
+ Result[i] = x[i] > y[i];
+ return Result;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y)
+ {
+ tvec4<bool, P> Result(uninitialize);
+ for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
+ Result[i] = x[i] >= y[i];
+ return Result;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y)
+ {
+ tvec4<bool, P> Result(uninitialize);
+ for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
+ Result[i] = x[i] == y[i];
+ return Result;
+ }
+
+ template <typename T, precision P>
+ GLM_FUNC_QUALIFIER tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y)
+ {
+ tvec4<bool, P> Result(uninitialize);
+ for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
+ Result[i] = x[i] != y[i];
+ return Result;
+ }
+}//namespace glm