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898 lines
20 KiB
898 lines
20 KiB
/////////////////////////////////////////////////////////////////////////////////// |
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/// OpenGL Mathematics (glm.g-truc.net) |
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/// |
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/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net) |
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/// Permission is hereby granted, free of charge, to any person obtaining a copy |
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/// of this software and associated documentation files (the "Software"), to deal |
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/// in the Software without restriction, including without limitation the rights |
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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/// copies of the Software, and to permit persons to whom the Software is |
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/// furnished to do so, subject to the following conditions: |
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/// |
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/// The above copyright notice and this permission notice shall be included in |
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/// all copies or substantial portions of the Software. |
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/// |
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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/// THE SOFTWARE. |
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/// |
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/// @ref gtc_quaternion |
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/// @file glm/gtc/quaternion.inl |
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/// @date 2009-05-21 / 2011-06-15 |
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/// @author Christophe Riccio |
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/////////////////////////////////////////////////////////////////////////////////// |
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#include "../trigonometric.hpp" |
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#include "../geometric.hpp" |
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#include "../exponential.hpp" |
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#include <limits> |
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namespace glm{ |
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namespace detail |
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{ |
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template <typename T, precision P> |
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struct compute_dot<tquat, T, P> |
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{ |
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static GLM_FUNC_QUALIFIER T call(tquat<T, P> const & x, tquat<T, P> const & y) |
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{ |
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tvec4<T, P> tmp(x.x * y.x, x.y * y.y, x.z * y.z, x.w * y.w); |
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return (tmp.x + tmp.y) + (tmp.z + tmp.w); |
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} |
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}; |
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}//namespace detail |
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#if GLM_FORCE_SIZE_FUNC |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER GLM_CONSTEXPR size_t tquat<T, P>::size() const |
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{ |
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return 4; |
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} |
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#else |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER GLM_CONSTEXPR length_t tquat<T, P>::length() const |
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{ |
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return 4; |
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} |
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#endif |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P>::tquat() |
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# ifndef GLM_FORCE_NO_CTOR_INIT |
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: x(0), y(0), z(0), w(1) |
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# endif |
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{} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tquat<T, P> const & q) : |
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x(q.x), y(q.y), z(q.z), w(q.w) |
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{} |
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template <typename T, precision P> |
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template <precision Q> |
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GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tquat<T, Q> const & q) : |
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x(q.x), y(q.y), z(q.z), w(q.w) |
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{} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P>::tquat(ctor) |
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{} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P>::tquat |
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( |
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T const & s, |
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tvec3<T, P> const & v |
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) : |
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x(v.x), |
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y(v.y), |
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z(v.z), |
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w(s) |
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{} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P>::tquat |
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( |
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T const & w, |
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T const & x, |
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T const & y, |
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T const & z |
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) : |
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x(x), |
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y(y), |
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z(z), |
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w(w) |
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{} |
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////////////////////////////////////////////////////////////// |
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// tquat conversions |
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//template <typename valType> |
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//GLM_FUNC_QUALIFIER tquat<valType>::tquat |
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//( |
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// valType const & pitch, |
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// valType const & yaw, |
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// valType const & roll |
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//) |
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//{ |
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// tvec3<valType> eulerAngle(pitch * valType(0.5), yaw * valType(0.5), roll * valType(0.5)); |
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// tvec3<valType> c = glm::cos(eulerAngle * valType(0.5)); |
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// tvec3<valType> s = glm::sin(eulerAngle * valType(0.5)); |
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// |
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// this->w = c.x * c.y * c.z + s.x * s.y * s.z; |
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// this->x = s.x * c.y * c.z - c.x * s.y * s.z; |
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// this->y = c.x * s.y * c.z + s.x * c.y * s.z; |
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// this->z = c.x * c.y * s.z - s.x * s.y * c.z; |
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//} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P>::tquat |
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( |
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tvec3<T, P> const & u, |
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tvec3<T, P> const & v |
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) |
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{ |
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tvec3<T, P> const LocalW(cross(u, v)); |
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T Dot = detail::compute_dot<tvec3, T, P>::call(u, v); |
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tquat<T, P> q(T(1) + Dot, LocalW.x, LocalW.y, LocalW.z); |
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*this = normalize(q); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P>::tquat |
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( |
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tvec3<T, P> const & eulerAngle |
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) |
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{ |
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tvec3<T, P> c = glm::cos(eulerAngle * T(0.5)); |
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tvec3<T, P> s = glm::sin(eulerAngle * T(0.5)); |
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this->w = c.x * c.y * c.z + s.x * s.y * s.z; |
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this->x = s.x * c.y * c.z - c.x * s.y * s.z; |
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this->y = c.x * s.y * c.z + s.x * c.y * s.z; |
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this->z = c.x * c.y * s.z - s.x * s.y * c.z; |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P>::tquat |
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( |
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tmat3x3<T, P> const & m |
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) |
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{ |
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*this = quat_cast(m); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P>::tquat |
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( |
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tmat4x4<T, P> const & m |
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) |
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{ |
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*this = quat_cast(m); |
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} |
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////////////////////////////////////////////////////////////// |
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// tquat<T, P> accesses |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER T & tquat<T, P>::operator[] (length_t i) |
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{ |
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assert(i >= 0 && i < this->length()); |
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return (&x)[i]; |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER T const & tquat<T, P>::operator[] (length_t i) const |
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{ |
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assert(i >= 0 && i < this->length()); |
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return (&x)[i]; |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> conjugate |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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return tquat<T, P>(q.w, -q.x, -q.y, -q.z); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> inverse |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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return conjugate(q) / dot(q, q); |
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} |
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////////////////////////////////////////////////////////////// |
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// tquat<valType> operators |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator += |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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this->w += q.w; |
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this->x += q.x; |
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this->y += q.y; |
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this->z += q.z; |
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return *this; |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator *= |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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tquat<T, P> const p(*this); |
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this->w = p.w * q.w - p.x * q.x - p.y * q.y - p.z * q.z; |
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this->x = p.w * q.x + p.x * q.w + p.y * q.z - p.z * q.y; |
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this->y = p.w * q.y + p.y * q.w + p.z * q.x - p.x * q.z; |
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this->z = p.w * q.z + p.z * q.w + p.x * q.y - p.y * q.x; |
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return *this; |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator *= |
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( |
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T const & s |
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) |
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{ |
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this->w *= s; |
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this->x *= s; |
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this->y *= s; |
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this->z *= s; |
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return *this; |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator /= |
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( |
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T const & s |
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) |
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{ |
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this->w /= s; |
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this->x /= s; |
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this->y /= s; |
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this->z /= s; |
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return *this; |
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} |
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////////////////////////////////////////////////////////////// |
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// tquat<T, P> external operators |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> operator- |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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return tquat<T, P>(-q.w, -q.x, -q.y, -q.z); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> operator+ |
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( |
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tquat<T, P> const & q, |
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tquat<T, P> const & p |
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) |
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{ |
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return tquat<T, P>(q) += p; |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> operator* |
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( |
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tquat<T, P> const & q, |
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tquat<T, P> const & p |
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) |
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{ |
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return tquat<T, P>(q) *= p; |
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} |
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// Transformation |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tvec3<T, P> operator* |
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( |
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tquat<T, P> const & q, |
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tvec3<T, P> const & v |
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) |
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{ |
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tvec3<T, P> const QuatVector(q.x, q.y, q.z); |
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tvec3<T, P> const uv(glm::cross(QuatVector, v)); |
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tvec3<T, P> const uuv(glm::cross(QuatVector, uv)); |
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return v + ((uv * q.w) + uuv) * static_cast<T>(2); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tvec3<T, P> operator* |
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( |
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tvec3<T, P> const & v, |
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tquat<T, P> const & q |
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) |
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{ |
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return glm::inverse(q) * v; |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tvec4<T, P> operator* |
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( |
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tquat<T, P> const & q, |
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tvec4<T, P> const & v |
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) |
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{ |
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return tvec4<T, P>(q * tvec3<T, P>(v), v.w); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tvec4<T, P> operator* |
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( |
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tvec4<T, P> const & v, |
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tquat<T, P> const & q |
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) |
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{ |
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return glm::inverse(q) * v; |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> operator* |
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( |
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tquat<T, P> const & q, |
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T const & s |
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) |
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{ |
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return tquat<T, P>( |
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q.w * s, q.x * s, q.y * s, q.z * s); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> operator* |
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( |
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T const & s, |
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tquat<T, P> const & q |
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) |
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{ |
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return q * s; |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> operator/ |
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( |
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tquat<T, P> const & q, |
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T const & s |
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) |
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{ |
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return tquat<T, P>( |
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q.w / s, q.x / s, q.y / s, q.z / s); |
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} |
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////////////////////////////////////// |
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// Boolean operators |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER bool operator== |
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( |
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tquat<T, P> const & q1, |
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tquat<T, P> const & q2 |
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) |
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{ |
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return (q1.x == q2.x) && (q1.y == q2.y) && (q1.z == q2.z) && (q1.w == q2.w); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER bool operator!= |
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( |
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tquat<T, P> const & q1, |
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tquat<T, P> const & q2 |
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) |
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{ |
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return (q1.x != q2.x) || (q1.y != q2.y) || (q1.z != q2.z) || (q1.w != q2.w); |
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} |
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//////////////////////////////////////////////////////// |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER T length |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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return glm::sqrt(dot(q, q)); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> normalize |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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T len = length(q); |
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if(len <= T(0)) // Problem |
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return tquat<T, P>(1, 0, 0, 0); |
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T oneOverLen = T(1) / len; |
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return tquat<T, P>(q.w * oneOverLen, q.x * oneOverLen, q.y * oneOverLen, q.z * oneOverLen); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> cross |
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( |
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tquat<T, P> const & q1, |
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tquat<T, P> const & q2 |
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) |
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{ |
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return tquat<T, P>( |
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q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z, |
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q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y, |
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q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z, |
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q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x); |
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} |
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/* |
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// (x * sin(1 - a) * angle / sin(angle)) + (y * sin(a) * angle / sin(angle)) |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> mix |
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( |
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tquat<T, P> const & x, |
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tquat<T, P> const & y, |
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T const & a |
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) |
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{ |
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if(a <= T(0)) return x; |
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if(a >= T(1)) return y; |
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float fCos = dot(x, y); |
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tquat<T, P> y2(y); //BUG!!! tquat<T, P> y2; |
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if(fCos < T(0)) |
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{ |
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y2 = -y; |
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fCos = -fCos; |
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} |
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|
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//if(fCos > 1.0f) // problem |
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float k0, k1; |
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if(fCos > T(0.9999)) |
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{ |
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k0 = T(1) - a; |
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k1 = T(0) + a; //BUG!!! 1.0f + a; |
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} |
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else |
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{ |
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T fSin = sqrt(T(1) - fCos * fCos); |
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T fAngle = atan(fSin, fCos); |
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T fOneOverSin = static_cast<T>(1) / fSin; |
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k0 = sin((T(1) - a) * fAngle) * fOneOverSin; |
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k1 = sin((T(0) + a) * fAngle) * fOneOverSin; |
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} |
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return tquat<T, P>( |
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k0 * x.w + k1 * y2.w, |
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k0 * x.x + k1 * y2.x, |
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k0 * x.y + k1 * y2.y, |
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k0 * x.z + k1 * y2.z); |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> mix2 |
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( |
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tquat<T, P> const & x, |
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tquat<T, P> const & y, |
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T const & a |
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) |
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{ |
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bool flip = false; |
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if(a <= static_cast<T>(0)) return x; |
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if(a >= static_cast<T>(1)) return y; |
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|
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T cos_t = dot(x, y); |
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if(cos_t < T(0)) |
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{ |
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cos_t = -cos_t; |
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flip = true; |
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} |
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T alpha(0), beta(0); |
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|
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if(T(1) - cos_t < 1e-7) |
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beta = static_cast<T>(1) - alpha; |
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else |
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{ |
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T theta = acos(cos_t); |
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T sin_t = sin(theta); |
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beta = sin(theta * (T(1) - alpha)) / sin_t; |
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alpha = sin(alpha * theta) / sin_t; |
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} |
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|
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if(flip) |
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alpha = -alpha; |
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return normalize(beta * x + alpha * y); |
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} |
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*/ |
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|
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> mix |
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( |
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tquat<T, P> const & x, |
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tquat<T, P> const & y, |
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T const & a |
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) |
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{ |
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T cosTheta = dot(x, y); |
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|
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// Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator |
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if(cosTheta > T(1) - epsilon<T>()) |
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{ |
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// Linear interpolation |
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return tquat<T, P>( |
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mix(x.w, y.w, a), |
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mix(x.x, y.x, a), |
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mix(x.y, y.y, a), |
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mix(x.z, y.z, a)); |
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} |
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else |
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{ |
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// Essential Mathematics, page 467 |
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T angle = acos(cosTheta); |
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return (sin((T(1) - a) * angle) * x + sin(a * angle) * y) / sin(angle); |
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} |
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} |
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> lerp |
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( |
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tquat<T, P> const & x, |
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tquat<T, P> const & y, |
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T const & a |
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) |
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{ |
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// Lerp is only defined in [0, 1] |
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assert(a >= static_cast<T>(0)); |
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assert(a <= static_cast<T>(1)); |
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|
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return x * (T(1) - a) + (y * a); |
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} |
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|
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> slerp |
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( |
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tquat<T, P> const & x, |
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tquat<T, P> const & y, |
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T const & a |
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) |
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{ |
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tquat<T, P> z = y; |
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|
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T cosTheta = dot(x, y); |
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|
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// If cosTheta < 0, the interpolation will take the long way around the sphere. |
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// To fix this, one quat must be negated. |
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if (cosTheta < T(0)) |
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{ |
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z = -y; |
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cosTheta = -cosTheta; |
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} |
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|
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// Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator |
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if(cosTheta > T(1) - epsilon<T>()) |
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{ |
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// Linear interpolation |
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return tquat<T, P>( |
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mix(x.w, z.w, a), |
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mix(x.x, z.x, a), |
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mix(x.y, z.y, a), |
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mix(x.z, z.z, a)); |
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} |
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else |
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{ |
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// Essential Mathematics, page 467 |
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T angle = acos(cosTheta); |
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return (sin((T(1) - a) * angle) * x + sin(a * angle) * z) / sin(angle); |
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} |
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} |
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|
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tquat<T, P> rotate |
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( |
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tquat<T, P> const & q, |
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T const & angle, |
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tvec3<T, P> const & v |
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) |
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{ |
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tvec3<T, P> Tmp = v; |
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|
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// Axis of rotation must be normalised |
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T len = glm::length(Tmp); |
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if(abs(len - T(1)) > T(0.001)) |
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{ |
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T oneOverLen = static_cast<T>(1) / len; |
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Tmp.x *= oneOverLen; |
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Tmp.y *= oneOverLen; |
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Tmp.z *= oneOverLen; |
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} |
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|
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T const AngleRad(angle); |
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T const Sin = sin(AngleRad * T(0.5)); |
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|
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return q * tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin); |
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//return gtc::quaternion::cross(q, tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin)); |
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} |
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|
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tvec3<T, P> eulerAngles |
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( |
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tquat<T, P> const & x |
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) |
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{ |
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return tvec3<T, P>(pitch(x), yaw(x), roll(x)); |
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} |
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|
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER T roll |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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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)); |
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} |
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|
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER T pitch |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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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)); |
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} |
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|
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER T yaw |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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return asin(T(-2) * (q.x * q.z - q.w * q.y)); |
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} |
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|
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template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tmat3x3<T, P> mat3_cast |
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( |
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tquat<T, P> const & q |
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) |
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{ |
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tmat3x3<T, P> Result(T(1)); |
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T qxx(q.x * q.x); |
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T qyy(q.y * q.y); |
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T qzz(q.z * q.z); |
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T qxz(q.x * q.z); |
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T qxy(q.x * q.y); |
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T qyz(q.y * q.z); |
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T qwx(q.w * q.x); |
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T qwy(q.w * q.y); |
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T qwz(q.w * q.z); |
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|
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Result[0][0] = 1 - 2 * (qyy + qzz); |
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Result[0][1] = 2 * (qxy + qwz); |
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Result[0][2] = 2 * (qxz - qwy); |
|
|
|
Result[1][0] = 2 * (qxy - qwz); |
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Result[1][1] = 1 - 2 * (qxx + qzz); |
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Result[1][2] = 2 * (qyz + qwx); |
|
|
|
Result[2][0] = 2 * (qxz + qwy); |
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Result[2][1] = 2 * (qyz - qwx); |
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Result[2][2] = 1 - 2 * (qxx + qyy); |
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return Result; |
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} |
|
|
|
template <typename T, precision P> |
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GLM_FUNC_QUALIFIER tmat4x4<T, P> mat4_cast |
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( |
|
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
|
|
|