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@ -150,7 +150,7 @@ namespace detail |
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{ |
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T norm_u_norm_v = sqrt(dot(u, u) * dot(v, v)); |
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T real_part = norm_u_norm_v + dot(u, v); |
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vec<3, T, Q> w; |
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vec<3, T, Q> t; |
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if(real_part < static_cast<T>(1.e-6f) * norm_u_norm_v) |
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{ |
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@ -158,15 +158,15 @@ namespace detail |
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// around an arbitrary orthogonal axis. Axis normalisation |
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// can happen later, when we normalise the quaternion. |
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real_part = static_cast<T>(0); |
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w = 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); |
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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); |
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} |
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else |
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{ |
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// Otherwise, build quaternion the standard way. |
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w = cross(u, v); |
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t = cross(u, v); |
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} |
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*this = normalize(tquat<T, Q>(real_part, w.x, w.y, w.z)); |
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*this = normalize(tquat<T, Q>(real_part, t.x, t.y, t.z)); |
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} |
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template<typename T, qualifier Q> |
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