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Merge branch '0.9.5' of https://github.com/g-truc/glm into quat_simd

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master
Dave Reid ago%!(EXTRA string=13 years)
parent 7563a8bc4d 5a82afae6f
commit d23da666c5
4 changed files with 566 additions and 17 deletions
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  1. 5
      glm/CMakeLists.txt
  2. 4
      glm/core/type_mat4x4.inl
  3. 546
      glm/glm.cpp
  4. 22
      glm/gtx/dual_quaternion.inl

5
glm/CMakeLists.txt
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@ -1,4 +1,4 @@
set(NAME glm)
set(NAME glm_dummy)
file(GLOB ROOT_SOURCE *.cpp)
file(GLOB ROOT_INLINE *.inl)
@ -43,3 +43,6 @@ add_executable(${NAME} ${ROOT_TEXT}
${GTC_SOURCE} ${GTC_INLINE} ${GTC_HEADER}
${GTX_SOURCE} ${GTX_INLINE} ${GTX_HEADER}
${VIRTREV_SOURCE} ${VIRTREV_INLINE} ${VIRTREV_HEADER})
add_library(glm STATIC glm.cpp)
add_library(glm_shared SHARED glm.cpp)

4
glm/core/type_mat4x4.inl
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@ -562,11 +562,11 @@ namespace detail
- this->value[0][0] * SubFactor14 + this->value[0][1] * SubFactor16 - this->value[0][3] * SubFactor18,
+ this->value[0][0] * SubFactor15 - this->value[0][1] * SubFactor17 + this->value[0][2] * SubFactor18);
value_type Determinant =
T Determinant = T(
+ this->value[0][0] * Inverse[0][0]
+ this->value[0][1] * Inverse[1][0]
+ this->value[0][2] * Inverse[2][0]
+ this->value[0][3] * Inverse[3][0];
+ this->value[0][3] * Inverse[3][0]);
Inverse /= Determinant;
return Inverse;

546
glm/glm.cpp
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@ -0,0 +1,546 @@
///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2013 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.
///
/// 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 core
/// @file glm/glm.cpp
/// @date 2013-04-22 / 2013-04-22
/// @author Christophe Riccio
///////////////////////////////////////////////////////////////////////////////////
#include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp>
#include <glm/gtx/dual_quaternion.hpp>
namespace glm{
namespace detail
{
// tvec1 type explicit instantiation
/*
template struct tvec1<uint8, lowp>;
template struct tvec1<uint16, lowp>;
template struct tvec1<uint32, lowp>;
template struct tvec1<uint64, lowp>;
template struct tvec1<int8, lowp>;
template struct tvec1<int16, lowp>;
template struct tvec1<int32, lowp>;
template struct tvec1<int64, lowp>;
template struct tvec1<float16, lowp>;
template struct tvec1<float32, lowp>;
template struct tvec1<float64, lowp>;
template struct tvec1<uint8, mediump>;
template struct tvec1<uint16, mediump>;
template struct tvec1<uint32, mediump>;
template struct tvec1<uint64, mediump>;
template struct tvec1<int8, mediump>;
template struct tvec1<int16, mediump>;
template struct tvec1<int32, mediump>;
template struct tvec1<int64, mediump>;
template struct tvec1<float16, mediump>;
template struct tvec1<float32, mediump>;
template struct tvec1<float64, mediump>;
template struct tvec1<uint8, highp>;
template struct tvec1<uint16, highp>;
template struct tvec1<uint32, highp>;
template struct tvec1<uint64, highp>;
template struct tvec1<int8, highp>;
template struct tvec1<int16, highp>;
template struct tvec1<int32, highp>;
template struct tvec1<int64, highp>;
template struct tvec1<float16, highp>;
template struct tvec1<float32, highp>;
template struct tvec1<float64, highp>;
*/
// tvec2 type explicit instantiation
template struct tvec2<uint8, lowp>;
template struct tvec2<uint16, lowp>;
template struct tvec2<uint32, lowp>;
template struct tvec2<uint64, lowp>;
template struct tvec2<int8, lowp>;
template struct tvec2<int16, lowp>;
template struct tvec2<int32, lowp>;
template struct tvec2<int64, lowp>;
template struct tvec2<float16, lowp>;
template struct tvec2<float32, lowp>;
template struct tvec2<float64, lowp>;
template struct tvec2<uint8, mediump>;
template struct tvec2<uint16, mediump>;
template struct tvec2<uint32, mediump>;
template struct tvec2<uint64, mediump>;
template struct tvec2<int8, mediump>;
template struct tvec2<int16, mediump>;
template struct tvec2<int32, mediump>;
template struct tvec2<int64, mediump>;
template struct tvec2<float16, mediump>;
template struct tvec2<float32, mediump>;
template struct tvec2<float64, mediump>;
template struct tvec2<uint8, highp>;
template struct tvec2<uint16, highp>;
template struct tvec2<uint32, highp>;
template struct tvec2<uint64, highp>;
template struct tvec2<int8, highp>;
template struct tvec2<int16, highp>;
template struct tvec2<int32, highp>;
template struct tvec2<int64, highp>;
template struct tvec2<float16, highp>;
template struct tvec2<float32, highp>;
template struct tvec2<float64, highp>;
// tvec3 type explicit instantiation
template struct tvec3<uint8, lowp>;
template struct tvec3<uint16, lowp>;
template struct tvec3<uint32, lowp>;
template struct tvec3<uint64, lowp>;
template struct tvec3<int8, lowp>;
template struct tvec3<int16, lowp>;
template struct tvec3<int32, lowp>;
template struct tvec3<int64, lowp>;
template struct tvec3<float16, lowp>;
template struct tvec3<float32, lowp>;
template struct tvec3<float64, lowp>;
template struct tvec3<uint8, mediump>;
template struct tvec3<uint16, mediump>;
template struct tvec3<uint32, mediump>;
template struct tvec3<uint64, mediump>;
template struct tvec3<int8, mediump>;
template struct tvec3<int16, mediump>;
template struct tvec3<int32, mediump>;
template struct tvec3<int64, mediump>;
template struct tvec3<float16, mediump>;
template struct tvec3<float32, mediump>;
template struct tvec3<float64, mediump>;
template struct tvec3<uint8, highp>;
template struct tvec3<uint16, highp>;
template struct tvec3<uint32, highp>;
template struct tvec3<uint64, highp>;
template struct tvec3<int8, highp>;
template struct tvec3<int16, highp>;
template struct tvec3<int32, highp>;
template struct tvec3<int64, highp>;
template struct tvec3<float16, highp>;
template struct tvec3<float32, highp>;
template struct tvec3<float64, highp>;
// tvec4 type explicit instantiation
template struct tvec4<uint8, lowp>;
template struct tvec4<uint16, lowp>;
template struct tvec4<uint32, lowp>;
template struct tvec4<uint64, lowp>;
template struct tvec4<int8, lowp>;
template struct tvec4<int16, lowp>;
template struct tvec4<int32, lowp>;
template struct tvec4<int64, lowp>;
template struct tvec4<float16, lowp>;
template struct tvec4<float32, lowp>;
template struct tvec4<float64, lowp>;
template struct tvec4<uint8, mediump>;
template struct tvec4<uint16, mediump>;
template struct tvec4<uint32, mediump>;
template struct tvec4<uint64, mediump>;
template struct tvec4<int8, mediump>;
template struct tvec4<int16, mediump>;
template struct tvec4<int32, mediump>;
template struct tvec4<int64, mediump>;
template struct tvec4<float16, mediump>;
template struct tvec4<float32, mediump>;
template struct tvec4<float64, mediump>;
template struct tvec4<uint8, highp>;
template struct tvec4<uint16, highp>;
template struct tvec4<uint32, highp>;
template struct tvec4<uint64, highp>;
template struct tvec4<int8, highp>;
template struct tvec4<int16, highp>;
template struct tvec4<int32, highp>;
template struct tvec4<int64, highp>;
template struct tvec4<float16, highp>;
template struct tvec4<float32, highp>;
template struct tvec4<float64, highp>;
// tmat2x2 type explicit instantiation
template struct tmat2x2<uint8, lowp>;
template struct tmat2x2<uint16, lowp>;
template struct tmat2x2<uint32, lowp>;
template struct tmat2x2<uint64, lowp>;
template struct tmat2x2<int8, lowp>;
template struct tmat2x2<int16, lowp>;
template struct tmat2x2<int32, lowp>;
template struct tmat2x2<int64, lowp>;
template struct tmat2x2<float16, lowp>;
template struct tmat2x2<float32, lowp>;
template struct tmat2x2<float64, lowp>;
template struct tmat2x2<uint8, mediump>;
template struct tmat2x2<uint16, mediump>;
template struct tmat2x2<uint32, mediump>;
template struct tmat2x2<uint64, mediump>;
template struct tmat2x2<int8, mediump>;
template struct tmat2x2<int16, mediump>;
template struct tmat2x2<int32, mediump>;
template struct tmat2x2<int64, mediump>;
template struct tmat2x2<float16, mediump>;
template struct tmat2x2<float32, mediump>;
template struct tmat2x2<float64, mediump>;
template struct tmat2x2<uint8, highp>;
template struct tmat2x2<uint16, highp>;
template struct tmat2x2<uint32, highp>;
template struct tmat2x2<uint64, highp>;
template struct tmat2x2<int8, highp>;
template struct tmat2x2<int16, highp>;
template struct tmat2x2<int32, highp>;
template struct tmat2x2<int64, highp>;
template struct tmat2x2<float16, highp>;
template struct tmat2x2<float32, highp>;
template struct tmat2x2<float64, highp>;
// tmat2x3 type explicit instantiation
template struct tmat2x3<uint8, lowp>;
template struct tmat2x3<uint16, lowp>;
template struct tmat2x3<uint32, lowp>;
template struct tmat2x3<uint64, lowp>;
template struct tmat2x3<int8, lowp>;
template struct tmat2x3<int16, lowp>;
template struct tmat2x3<int32, lowp>;
template struct tmat2x3<int64, lowp>;
template struct tmat2x3<float16, lowp>;
template struct tmat2x3<float32, lowp>;
template struct tmat2x3<float64, lowp>;
template struct tmat2x3<uint8, mediump>;
template struct tmat2x3<uint16, mediump>;
template struct tmat2x3<uint32, mediump>;
template struct tmat2x3<uint64, mediump>;
template struct tmat2x3<int8, mediump>;
template struct tmat2x3<int16, mediump>;
template struct tmat2x3<int32, mediump>;
template struct tmat2x3<int64, mediump>;
template struct tmat2x3<float16, mediump>;
template struct tmat2x3<float32, mediump>;
template struct tmat2x3<float64, mediump>;
template struct tmat2x3<uint8, highp>;
template struct tmat2x3<uint16, highp>;
template struct tmat2x3<uint32, highp>;
template struct tmat2x3<uint64, highp>;
template struct tmat2x3<int8, highp>;
template struct tmat2x3<int16, highp>;
template struct tmat2x3<int32, highp>;
template struct tmat2x3<int64, highp>;
template struct tmat2x3<float16, highp>;
template struct tmat2x3<float32, highp>;
template struct tmat2x3<float64, highp>;
// tmat2x4 type explicit instantiation
template struct tmat2x4<uint8, lowp>;
template struct tmat2x4<uint16, lowp>;
template struct tmat2x4<uint32, lowp>;
template struct tmat2x4<uint64, lowp>;
template struct tmat2x4<int8, lowp>;
template struct tmat2x4<int16, lowp>;
template struct tmat2x4<int32, lowp>;
template struct tmat2x4<int64, lowp>;
template struct tmat2x4<float16, lowp>;
template struct tmat2x4<float32, lowp>;
template struct tmat2x4<float64, lowp>;
template struct tmat2x4<uint8, mediump>;
template struct tmat2x4<uint16, mediump>;
template struct tmat2x4<uint32, mediump>;
template struct tmat2x4<uint64, mediump>;
template struct tmat2x4<int8, mediump>;
template struct tmat2x4<int16, mediump>;
template struct tmat2x4<int32, mediump>;
template struct tmat2x4<int64, mediump>;
template struct tmat2x4<float16, mediump>;
template struct tmat2x4<float32, mediump>;
template struct tmat2x4<float64, mediump>;
template struct tmat2x4<uint8, highp>;
template struct tmat2x4<uint16, highp>;
template struct tmat2x4<uint32, highp>;
template struct tmat2x4<uint64, highp>;
template struct tmat2x4<int8, highp>;
template struct tmat2x4<int16, highp>;
template struct tmat2x4<int32, highp>;
template struct tmat2x4<int64, highp>;
template struct tmat2x4<float16, highp>;
template struct tmat2x4<float32, highp>;
template struct tmat2x4<float64, highp>;
// tmat3x2 type explicit instantiation
template struct tmat3x2<uint8, lowp>;
template struct tmat3x2<uint16, lowp>;
template struct tmat3x2<uint32, lowp>;
template struct tmat3x2<uint64, lowp>;
template struct tmat3x2<int8, lowp>;
template struct tmat3x2<int16, lowp>;
template struct tmat3x2<int32, lowp>;
template struct tmat3x2<int64, lowp>;
template struct tmat3x2<float16, lowp>;
template struct tmat3x2<float32, lowp>;
template struct tmat3x2<float64, lowp>;
template struct tmat3x2<uint8, mediump>;
template struct tmat3x2<uint16, mediump>;
template struct tmat3x2<uint32, mediump>;
template struct tmat3x2<uint64, mediump>;
template struct tmat3x2<int8, mediump>;
template struct tmat3x2<int16, mediump>;
template struct tmat3x2<int32, mediump>;
template struct tmat3x2<int64, mediump>;
template struct tmat3x2<float16, mediump>;
template struct tmat3x2<float32, mediump>;
template struct tmat3x2<float64, mediump>;
template struct tmat3x2<uint8, highp>;
template struct tmat3x2<uint16, highp>;
template struct tmat3x2<uint32, highp>;
template struct tmat3x2<uint64, highp>;
template struct tmat3x2<int8, highp>;
template struct tmat3x2<int16, highp>;
template struct tmat3x2<int32, highp>;
template struct tmat3x2<int64, highp>;
template struct tmat3x2<float16, highp>;
template struct tmat3x2<float32, highp>;
template struct tmat3x2<float64, highp>;
// tmat3x3 type explicit instantiation
template struct tmat3x3<uint8, lowp>;
template struct tmat3x3<uint16, lowp>;
template struct tmat3x3<uint32, lowp>;
template struct tmat3x3<uint64, lowp>;
template struct tmat3x3<int8, lowp>;
template struct tmat3x3<int16, lowp>;
template struct tmat3x3<int32, lowp>;
template struct tmat3x3<int64, lowp>;
template struct tmat3x3<float16, lowp>;
template struct tmat3x3<float32, lowp>;
template struct tmat3x3<float64, lowp>;
template struct tmat3x3<uint8, mediump>;
template struct tmat3x3<uint16, mediump>;
template struct tmat3x3<uint32, mediump>;
template struct tmat3x3<uint64, mediump>;
template struct tmat3x3<int8, mediump>;
template struct tmat3x3<int16, mediump>;
template struct tmat3x3<int32, mediump>;
template struct tmat3x3<int64, mediump>;
template struct tmat3x3<float16, mediump>;
template struct tmat3x3<float32, mediump>;
template struct tmat3x3<float64, mediump>;
template struct tmat3x3<uint8, highp>;
template struct tmat3x3<uint16, highp>;
template struct tmat3x3<uint32, highp>;
template struct tmat3x3<uint64, highp>;
template struct tmat3x3<int8, highp>;
template struct tmat3x3<int16, highp>;
template struct tmat3x3<int32, highp>;
template struct tmat3x3<int64, highp>;
template struct tmat3x3<float16, highp>;
template struct tmat3x3<float32, highp>;
template struct tmat3x3<float64, highp>;
// tmat3x4 type explicit instantiation
template struct tmat3x4<uint8, lowp>;
template struct tmat3x4<uint16, lowp>;
template struct tmat3x4<uint32, lowp>;
template struct tmat3x4<uint64, lowp>;
template struct tmat3x4<int8, lowp>;
template struct tmat3x4<int16, lowp>;
template struct tmat3x4<int32, lowp>;
template struct tmat3x4<int64, lowp>;
template struct tmat3x4<float16, lowp>;
template struct tmat3x4<float32, lowp>;
template struct tmat3x4<float64, lowp>;
template struct tmat3x4<uint8, mediump>;
template struct tmat3x4<uint16, mediump>;
template struct tmat3x4<uint32, mediump>;
template struct tmat3x4<uint64, mediump>;
template struct tmat3x4<int8, mediump>;
template struct tmat3x4<int16, mediump>;
template struct tmat3x4<int32, mediump>;
template struct tmat3x4<int64, mediump>;
template struct tmat3x4<float16, mediump>;
template struct tmat3x4<float32, mediump>;
template struct tmat3x4<float64, mediump>;
template struct tmat3x4<uint8, highp>;
template struct tmat3x4<uint16, highp>;
template struct tmat3x4<uint32, highp>;
template struct tmat3x4<uint64, highp>;
template struct tmat3x4<int8, highp>;
template struct tmat3x4<int16, highp>;
template struct tmat3x4<int32, highp>;
template struct tmat3x4<int64, highp>;
template struct tmat3x4<float16, highp>;
template struct tmat3x4<float32, highp>;
template struct tmat3x4<float64, highp>;
// tmat4x2 type explicit instantiation
template struct tmat4x2<uint8, lowp>;
template struct tmat4x2<uint16, lowp>;
template struct tmat4x2<uint32, lowp>;
template struct tmat4x2<uint64, lowp>;
template struct tmat4x2<int8, lowp>;
template struct tmat4x2<int16, lowp>;
template struct tmat4x2<int32, lowp>;
template struct tmat4x2<int64, lowp>;
template struct tmat4x2<float16, lowp>;
template struct tmat4x2<float32, lowp>;
template struct tmat4x2<float64, lowp>;
template struct tmat4x2<uint8, mediump>;
template struct tmat4x2<uint16, mediump>;
template struct tmat4x2<uint32, mediump>;
template struct tmat4x2<uint64, mediump>;
template struct tmat4x2<int8, mediump>;
template struct tmat4x2<int16, mediump>;
template struct tmat4x2<int32, mediump>;
template struct tmat4x2<int64, mediump>;
template struct tmat4x2<float16, mediump>;
template struct tmat4x2<float32, mediump>;
template struct tmat4x2<float64, mediump>;
template struct tmat4x2<uint8, highp>;
template struct tmat4x2<uint16, highp>;
template struct tmat4x2<uint32, highp>;
template struct tmat4x2<uint64, highp>;
template struct tmat4x2<int8, highp>;
template struct tmat4x2<int16, highp>;
template struct tmat4x2<int32, highp>;
template struct tmat4x2<int64, highp>;
template struct tmat4x2<float16, highp>;
template struct tmat4x2<float32, highp>;
template struct tmat4x2<float64, highp>;
// tmat4x3 type explicit instantiation
template struct tmat4x3<uint8, lowp>;
template struct tmat4x3<uint16, lowp>;
template struct tmat4x3<uint32, lowp>;
template struct tmat4x3<uint64, lowp>;
template struct tmat4x3<int8, lowp>;
template struct tmat4x3<int16, lowp>;
template struct tmat4x3<int32, lowp>;
template struct tmat4x3<int64, lowp>;
template struct tmat4x3<float16, lowp>;
template struct tmat4x3<float32, lowp>;
template struct tmat4x3<float64, lowp>;
template struct tmat4x3<uint8, mediump>;
template struct tmat4x3<uint16, mediump>;
template struct tmat4x3<uint32, mediump>;
template struct tmat4x3<uint64, mediump>;
template struct tmat4x3<int8, mediump>;
template struct tmat4x3<int16, mediump>;
template struct tmat4x3<int32, mediump>;
template struct tmat4x3<int64, mediump>;
template struct tmat4x3<float16, mediump>;
template struct tmat4x3<float32, mediump>;
template struct tmat4x3<float64, mediump>;
template struct tmat4x3<uint8, highp>;
template struct tmat4x3<uint16, highp>;
template struct tmat4x3<uint32, highp>;
template struct tmat4x3<uint64, highp>;
template struct tmat4x3<int8, highp>;
template struct tmat4x3<int16, highp>;
template struct tmat4x3<int32, highp>;
template struct tmat4x3<int64, highp>;
template struct tmat4x3<float16, highp>;
template struct tmat4x3<float32, highp>;
template struct tmat4x3<float64, highp>;
// tmat4x4 type explicit instantiation
template struct tmat4x4<uint8, lowp>;
template struct tmat4x4<uint16, lowp>;
template struct tmat4x4<uint32, lowp>;
template struct tmat4x4<uint64, lowp>;
template struct tmat4x4<int8, lowp>;
template struct tmat4x4<int16, lowp>;
template struct tmat4x4<int32, lowp>;
template struct tmat4x4<int64, lowp>;
template struct tmat4x4<float16, lowp>;
template struct tmat4x4<float32, lowp>;
template struct tmat4x4<float64, lowp>;
template struct tmat4x4<uint8, mediump>;
template struct tmat4x4<uint16, mediump>;
template struct tmat4x4<uint32, mediump>;
template struct tmat4x4<uint64, mediump>;
template struct tmat4x4<int8, mediump>;
template struct tmat4x4<int16, mediump>;
template struct tmat4x4<int32, mediump>;
template struct tmat4x4<int64, mediump>;
template struct tmat4x4<float16, mediump>;
template struct tmat4x4<float32, mediump>;
template struct tmat4x4<float64, mediump>;
template struct tmat4x4<uint8, highp>;
template struct tmat4x4<uint16, highp>;
template struct tmat4x4<uint32, highp>;
template struct tmat4x4<uint64, highp>;
template struct tmat4x4<int8, highp>;
template struct tmat4x4<int16, highp>;
template struct tmat4x4<int32, highp>;
template struct tmat4x4<int64, highp>;
template struct tmat4x4<float16, highp>;
template struct tmat4x4<float32, highp>;
template struct tmat4x4<float64, highp>;
// tquat type explicit instantiation
template struct tquat<float16, lowp>;
template struct tquat<float32, lowp>;
template struct tquat<float64, lowp>;
template struct tquat<float16, mediump>;
template struct tquat<float32, mediump>;
template struct tquat<float64, mediump>;
template struct tquat<float16, highp>;
template struct tquat<float32, highp>;
template struct tquat<float64, highp>;
//tdualquat type explicit instantiation
template struct tdualquat<float16, lowp>;
template struct tdualquat<float32, lowp>;
template struct tdualquat<float64, lowp>;
template struct tdualquat<float16, mediump>;
template struct tdualquat<float32, mediump>;
template struct tdualquat<float64, mediump>;
template struct tdualquat<float16, highp>;
template struct tdualquat<float32, highp>;
template struct tdualquat<float64, highp>;
}//namespace detail
}//namespace glm

22
glm/gtx/dual_quaternion.inl
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@ -70,10 +70,10 @@ namespace detail
) :
real(q),
dual(
-0.5f*( p.x*q.x + p.y*q.y + p.z*q.z),
0.5f*( p.x*q.w + p.y*q.z - p.z*q.y),
0.5f*(-p.x*q.z + p.y*q.w + p.z*q.x),
0.5f*( p.x*q.y - p.y*q.x + p.z*q.w))
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))
{}
//////////////////////////////////////////////////////////////
@ -378,20 +378,20 @@ namespace detail
detail::tquat<T, P> real;
T const trace = x[0].x + x[1].y + x[2].z;
if(trace > detail::tdualquat<T, P>::value_type(0))
if(trace > T(0))
{
T const r = sqrt(detail::tdualquat<T, P>::value_type(1) + trace);
T const invr = detail::tdualquat<T, P>::value_type(0.5) / r;
real.w = detail::tdualquat<T, P>::value_type(0.5) * r;
T const r = sqrt(T(1) + trace);
T const invr = T(0.5) / r;
real.w = 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(detail::tdualquat<T, P>::value_type(1) + x[0].x - x[1].y - x[2].z);
T const invr = detail::tdualquat<T, P>::value_type(0.5) / r;
real.x = detail::tdualquat<T, P>::value_type(0.5)*r;
T const r = sqrt(T(1) + x[0].x - x[1].y - x[2].z);
T const invr = T(0.5) / r;
real.x = 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;

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