diff options
Diffstat (limited to '3rdparty/include/glm/gtc/quaternion.inl')
| -rw-r--r-- | 3rdparty/include/glm/gtc/quaternion.inl | 784 |
1 files changed, 784 insertions, 0 deletions
diff --git a/3rdparty/include/glm/gtc/quaternion.inl b/3rdparty/include/glm/gtc/quaternion.inl new file mode 100644 index 0000000..33ca82c --- /dev/null +++ b/3rdparty/include/glm/gtc/quaternion.inl @@ -0,0 +1,784 @@ +/////////////////////////////////////////////////////////////////////////////////// +/// 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 |