diff options
Diffstat (limited to '3rdparty/include/glm/gtx/dual_quaternion.inl')
| -rw-r--r-- | 3rdparty/include/glm/gtx/dual_quaternion.inl | 400 |
1 files changed, 400 insertions, 0 deletions
diff --git a/3rdparty/include/glm/gtx/dual_quaternion.inl b/3rdparty/include/glm/gtx/dual_quaternion.inl new file mode 100644 index 0000000..8fed085 --- /dev/null +++ b/3rdparty/include/glm/gtx/dual_quaternion.inl @@ -0,0 +1,400 @@ +/////////////////////////////////////////////////////////////////////////////////// +/// 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 gtx_dual_quaternion +/// @file glm/gtx/dual_quaternion.inl +/// @date 2013-02-10 / 2013-02-13 +/// @author Maksim Vorobiev (msomeone@gmail.com) +/////////////////////////////////////////////////////////////////////////////////// + +#include "../geometric.hpp" +#include <limits> + +namespace glm +{ + ////////////////////////////////////// + // Component accesses + +# ifdef GLM_FORCE_SIZE_FUNC + template <typename T, precision P> + GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tdualquat<T, P>::size_type tdualquat<T, P>::size() const + { + return 2; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER typename tdualquat<T, P>::part_type & tdualquat<T, P>::operator[](typename tdualquat<T, P>::size_type i) + { + assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this)); + return (&real)[i]; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER typename tdualquat<T, P>::part_type const & tdualquat<T, P>::operator[](typename tdualquat<T, P>::size_type i) const + { + assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this)); + return (&real)[i]; + } +# else + template <typename T, precision P> + GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tdualquat<T, P>::length_type tdualquat<T, P>::length() const + { + return 2; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER typename tdualquat<T, P>::part_type & tdualquat<T, P>::operator[](typename tdualquat<T, P>::length_type i) + { + assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this)); + return (&real)[i]; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER typename tdualquat<T, P>::part_type const & tdualquat<T, P>::operator[](typename tdualquat<T, P>::length_type i) const + { + assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this)); + return (&real)[i]; + } +# endif//GLM_FORCE_SIZE_FUNC + + ////////////////////////////////////// + // Implicit basic constructors + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat() +# ifndef GLM_FORCE_NO_CTOR_INIT + : real(tquat<T, P>()) + , dual(tquat<T, P>(0, 0, 0, 0)) +# endif + {} + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tdualquat<T, P> const & d) + : real(d.real) + , dual(d.dual) + {} + + template <typename T, precision P> + template <precision Q> + GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tdualquat<T, Q> const & d) + : real(d.real) + , dual(d.dual) + {} + + ////////////////////////////////////// + // Explicit basic constructors + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(ctor) + {} + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tquat<T, P> const & r) + : real(r), dual(tquat<T, P>(0, 0, 0, 0)) + {} + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tquat<T, P> const & q, tvec3<T, P> const& p) + : real(q), dual( + T(-0.5) * ( p.x*q.x + p.y*q.y + p.z*q.z), + T(+0.5) * ( p.x*q.w + p.y*q.z - p.z*q.y), + T(+0.5) * (-p.x*q.z + p.y*q.w + p.z*q.x), + T(+0.5) * ( p.x*q.y - p.y*q.x + p.z*q.w)) + {} + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tquat<T, P> const & r, tquat<T, P> const & d) + : real(r), dual(d) + {} + + ////////////////////////////////////////////////////////////// + // tdualquat conversions + + template <typename T, precision P> + template <typename U, precision Q> + GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tdualquat<U, Q> const & q) + : real(q.real) + , dual(q.dual) + {} + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tmat2x4<T, P> const & m) + { + *this = dualquat_cast(m); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tmat3x4<T, P> const & m) + { + *this = dualquat_cast(m); + } + + ////////////////////////////////////////////////////////////// + // tdualquat operators + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator=(tdualquat<T, P> const & q) + { + this->real = q.real; + this->dual = q.dual; + return *this; + } + + template <typename T, precision P> + template <typename U> + GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator=(tdualquat<U, P> const & q) + { + this->real = q.real; + this->dual = q.dual; + return *this; + } + + template <typename T, precision P> + template <typename U> + GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator*=(U s) + { + this->real *= static_cast<T>(s); + this->dual *= static_cast<T>(s); + return *this; + } + + template <typename T, precision P> + template <typename U> + GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator/=(U s) + { + this->real /= static_cast<T>(s); + this->dual /= static_cast<T>(s); + return *this; + } + + ////////////////////////////////////////////////////////////// + // tquat<valType> external operators + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> operator-(tdualquat<T, P> const & q) + { + return tdualquat<T, P>(-q.real,-q.dual); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> operator+(tdualquat<T, P> const & q, tdualquat<T, P> const & p) + { + return tdualquat<T, P>(q.real + p.real,q.dual + p.dual); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> operator*(tdualquat<T, P> const & p, tdualquat<T, P> const & o) + { + return tdualquat<T, P>(p.real * o.real,p.real * o.dual + p.dual * o.real); + } + + // Transformation + template <typename T, precision P> + GLM_FUNC_QUALIFIER tvec3<T, P> operator*(tdualquat<T, P> const & q, tvec3<T, P> const & v) + { + tvec3<T, P> const real_v3(q.real.x,q.real.y,q.real.z); + tvec3<T, P> const dual_v3(q.dual.x,q.dual.y,q.dual.z); + return (cross(real_v3, cross(real_v3,v) + v * q.real.w + dual_v3) + dual_v3 * q.real.w - real_v3 * q.dual.w) * T(2) + v; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tvec3<T, P> operator*(tvec3<T, P> const & v, tdualquat<T, P> const & q) + { + return glm::inverse(q) * v; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tdualquat<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, tdualquat<T, P> const & q) + { + return glm::inverse(q) * v; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> operator*(tdualquat<T, P> const & q, T const & s) + { + return tdualquat<T, P>(q.real * s, q.dual * s); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> operator*(T const & s, tdualquat<T, P> const & q) + { + return q * s; + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> operator/(tdualquat<T, P> const & q, T const & s) + { + return tdualquat<T, P>(q.real / s, q.dual / s); + } + + ////////////////////////////////////// + // Boolean operators + template <typename T, precision P> + GLM_FUNC_QUALIFIER bool operator==(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2) + { + return (q1.real == q2.real) && (q1.dual == q2.dual); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2) + { + return (q1.real != q2.dual) || (q1.real != q2.dual); + } + + //////////////////////////////////////////////////////// + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> normalize(tdualquat<T, P> const & q) + { + return q / length(q.real); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> lerp(tdualquat<T, P> const & x, tdualquat<T, P> const & y, T const & a) + { + // Dual Quaternion Linear blend aka DLB: + // Lerp is only defined in [0, 1] + assert(a >= static_cast<T>(0)); + assert(a <= static_cast<T>(1)); + T const k = dot(x.real,y.real) < static_cast<T>(0) ? -a : a; + T const one(1); + return tdualquat<T, P>(x * (one - a) + y * k); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> inverse(tdualquat<T, P> const & q) + { + const glm::tquat<T, P> real = conjugate(q.real); + const glm::tquat<T, P> dual = conjugate(q.dual); + return tdualquat<T, P>(real, dual + (real * (-2.0f * dot(real,dual)))); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tmat2x4<T, P> mat2x4_cast(tdualquat<T, P> const & x) + { + return tmat2x4<T, P>( x[0].x, x[0].y, x[0].z, x[0].w, x[1].x, x[1].y, x[1].z, x[1].w ); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tmat3x4<T, P> mat3x4_cast(tdualquat<T, P> const & x) + { + tquat<T, P> r = x.real / length2(x.real); + + tquat<T, P> const rr(r.w * x.real.w, r.x * x.real.x, r.y * x.real.y, r.z * x.real.z); + r *= static_cast<T>(2); + + T const xy = r.x * x.real.y; + T const xz = r.x * x.real.z; + T const yz = r.y * x.real.z; + T const wx = r.w * x.real.x; + T const wy = r.w * x.real.y; + T const wz = r.w * x.real.z; + + tvec4<T, P> const a( + rr.w + rr.x - rr.y - rr.z, + xy - wz, + xz + wy, + -(x.dual.w * r.x - x.dual.x * r.w + x.dual.y * r.z - x.dual.z * r.y)); + + tvec4<T, P> const b( + xy + wz, + rr.w + rr.y - rr.x - rr.z, + yz - wx, + -(x.dual.w * r.y - x.dual.x * r.z - x.dual.y * r.w + x.dual.z * r.x)); + + tvec4<T, P> const c( + xz - wy, + yz + wx, + rr.w + rr.z - rr.x - rr.y, + -(x.dual.w * r.z + x.dual.x * r.y - x.dual.y * r.x - x.dual.z * r.w)); + + return tmat3x4<T, P>(a, b, c); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> dualquat_cast(tmat2x4<T, P> const & x) + { + return tdualquat<T, P>( + tquat<T, P>( x[0].w, x[0].x, x[0].y, x[0].z ), + tquat<T, P>( x[1].w, x[1].x, x[1].y, x[1].z )); + } + + template <typename T, precision P> + GLM_FUNC_QUALIFIER tdualquat<T, P> dualquat_cast(tmat3x4<T, P> const & x) + { + tquat<T, P> real(uninitialize); + + T const trace = x[0].x + x[1].y + x[2].z; + if(trace > static_cast<T>(0)) + { + T const r = sqrt(T(1) + trace); + T const invr = static_cast<T>(0.5) / r; + real.w = static_cast<T>(0.5) * r; + real.x = (x[2].y - x[1].z) * invr; + real.y = (x[0].z - x[2].x) * invr; + real.z = (x[1].x - x[0].y) * invr; + } + else if(x[0].x > x[1].y && x[0].x > x[2].z) + { + T const r = sqrt(T(1) + x[0].x - x[1].y - x[2].z); + T const invr = static_cast<T>(0.5) / r; + real.x = static_cast<T>(0.5)*r; + real.y = (x[1].x + x[0].y) * invr; + real.z = (x[0].z + x[2].x) * invr; + real.w = (x[2].y - x[1].z) * invr; + } + else if(x[1].y > x[2].z) + { + T const r = sqrt(T(1) + x[1].y - x[0].x - x[2].z); + T const invr = static_cast<T>(0.5) / r; + real.x = (x[1].x + x[0].y) * invr; + real.y = static_cast<T>(0.5) * r; + real.z = (x[2].y + x[1].z) * invr; + real.w = (x[0].z - x[2].x) * invr; + } + else + { + T const r = sqrt(T(1) + x[2].z - x[0].x - x[1].y); + T const invr = static_cast<T>(0.5) / r; + real.x = (x[0].z + x[2].x) * invr; + real.y = (x[2].y + x[1].z) * invr; + real.z = static_cast<T>(0.5) * r; + real.w = (x[1].x - x[0].y) * invr; + } + + tquat<T, P> dual(uninitialize); + dual.x = static_cast<T>(0.5) * ( x[0].w * real.w + x[1].w * real.z - x[2].w * real.y); + dual.y = static_cast<T>(0.5) * (-x[0].w * real.z + x[1].w * real.w + x[2].w * real.x); + dual.z = static_cast<T>(0.5) * ( x[0].w * real.y - x[1].w * real.x + x[2].w * real.w); + dual.w = -static_cast<T>(0.5) * ( x[0].w * real.x + x[1].w * real.y + x[2].w * real.z); + return tdualquat<T, P>(real, dual); + } +}//namespace glm |