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69 lines
2.1 KiB
69 lines
2.1 KiB
namespace glm |
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{ |
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template<typename T, qualifier Q> |
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GLM_FUNC_QUALIFIER qua<T, Q> exp(qua<T, Q> const& q) |
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{ |
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vec<3, T, Q> u(q.x, q.y, q.z); |
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T const Angle = glm::length(u); |
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if (Angle < epsilon<T>()) |
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return qua<T, Q>(); |
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vec<3, T, Q> const v(u / Angle); |
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return qua<T, Q>(cos(Angle), sin(Angle) * v); |
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} |
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template<typename T, qualifier Q> |
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GLM_FUNC_QUALIFIER qua<T, Q> log(qua<T, Q> const& q) |
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{ |
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vec<3, T, Q> u(q.x, q.y, q.z); |
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T Vec3Len = length(u); |
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if (Vec3Len < epsilon<T>()) |
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{ |
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if(q.w > static_cast<T>(0)) |
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return qua<T, Q>(log(q.w), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0)); |
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else if(q.w < static_cast<T>(0)) |
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return qua<T, Q>(log(-q.w), pi<T>(), static_cast<T>(0), static_cast<T>(0)); |
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else |
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return qua<T, Q>(std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity()); |
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} |
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else |
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{ |
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T t = atan(Vec3Len, T(q.w)) / Vec3Len; |
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T QuatLen2 = Vec3Len * Vec3Len + q.w * q.w; |
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return qua<T, Q>(static_cast<T>(0.5) * log(QuatLen2), t * q.x, t * q.y, t * q.z); |
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} |
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} |
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template<typename T, qualifier Q> |
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GLM_FUNC_QUALIFIER qua<T, Q> pow(qua<T, Q> const& x, T y) |
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{ |
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//Raising to the power of 0 should yield 1 |
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//Needed to prevent a division by 0 error later on |
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if(y > -epsilon<T>() && y < epsilon<T>()) |
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return qua<T, Q>(1,0,0,0); |
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//To deal with non-unit quaternions |
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T magnitude = sqrt(x.x * x.x + x.y * x.y + x.z * x.z + x.w *x.w); |
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//Equivalent to raising a real number to a power |
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//Needed to prevent a division by 0 error later on |
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if(abs(x.w / magnitude) > static_cast<T>(1) - epsilon<T>() && abs(x.w / magnitude) < static_cast<T>(1) + epsilon<T>()) |
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return qua<T, Q>(pow(x.w, y), 0, 0, 0); |
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T Angle = acos(x.w / magnitude); |
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T NewAngle = Angle * y; |
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T Div = sin(NewAngle) / sin(Angle); |
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T Mag = pow(magnitude, y - static_cast<T>(1)); |
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return qua<T, Q>(cos(NewAngle) * magnitude * Mag, x.x * Div * Mag, x.y * Div * Mag, x.z * Div * Mag); |
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} |
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template<typename T, qualifier Q> |
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GLM_FUNC_QUALIFIER qua<T, Q> sqrt(qua<T, Q> const& x) |
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{ |
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return pow(x, static_cast<T>(0.5)); |
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} |
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}//namespace glm |
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