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Diffstat (limited to 'src/glm/gtx/quaternion.inl')
| -rw-r--r-- | src/glm/gtx/quaternion.inl | 303 |
1 files changed, 303 insertions, 0 deletions
diff --git a/src/glm/gtx/quaternion.inl b/src/glm/gtx/quaternion.inl new file mode 100644 index 0000000..a65b2c0 --- /dev/null +++ b/src/glm/gtx/quaternion.inl @@ -0,0 +1,303 @@ +///////////////////////////////////////////////////////////////////////////////////////////////////
+// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// Created : 2005-12-21
+// Updated : 2008-11-27
+// Licence : This source is under MIT License
+// File : glm/gtx/quaternion.inl
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+#include <limits>
+
+namespace glm{
+namespace gtx{
+namespace quaternion
+{
+ template <typename valType>
+ GLM_FUNC_QUALIFIER detail::tvec3<valType> cross
+ (
+ detail::tvec3<valType> const & v,
+ detail::tquat<valType> const & q
+ )
+ {
+ return gtc::quaternion::inverse(q) * v;
+ }
+
+ template <typename valType>
+ GLM_FUNC_QUALIFIER detail::tvec3<valType> cross
+ (
+ detail::tquat<valType> const & q,
+ detail::tvec3<valType> const & v
+ )
+ {
+ return q * v;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tquat<T> squad
+ (
+ detail::tquat<T> const & q1,
+ detail::tquat<T> const & q2,
+ detail::tquat<T> const & s1,
+ detail::tquat<T> const & s2,
+ T const & h)
+ {
+ return mix(mix(q1, q2, h), mix(s1, s2, h), T(2) * h (T(1) - h));
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tquat<T> intermediate
+ (
+ detail::tquat<T> const & prev,
+ detail::tquat<T> const & curr,
+ detail::tquat<T> const & next
+ )
+ {
+ detail::tquat<T> invQuat = gtc::quaternion::inverse(curr);
+ return ext((log(next + invQuat) + log(prev + invQuat)) / T(-4)) * curr;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tquat<T> exp
+ (
+ detail::tquat<T> const & q,
+ T const & exponent
+ )
+ {
+ detail::tvec3<T> u(q.x, q.y, q.z);
+ float a = glm::length(u);
+ detail::tvec3<T> v(u / a);
+ return detail::tquat<T>(cos(a), sin(a) * v);
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tquat<T> log
+ (
+ detail::tquat<T> const & q
+ )
+ {
+ if((q.x == T(0)) && (q.y == T(0)) && (q.z == T(0)))
+ {
+ if(q.w > T(0))
+ return detail::tquat<T>(log(q.w), T(0), T(0), T(0));
+ else if(q.w < T(0))
+ return detail::tquat<T>(log(-q.w), T(3.1415926535897932384626433832795), T(0),T(0));
+ else
+ return detail::tquat<T>(std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity());
+ }
+ else
+ {
+ T Vec3Len = sqrt(q.x * q.x + q.y * q.y + q.z * q.z);
+ T QuatLen = sqrt(Vec3Len * Vec3Len + q.w * q.w);
+ T t = atan(Vec3Len, T(q.w)) / Vec3Len;
+ return detail::tquat<T>(t * q.x, t * q.y, t * q.z, log(QuatLen));
+ }
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tquat<T> pow
+ (
+ detail::tquat<T> const & x,
+ T const & y
+ )
+ {
+ if(abs(x.w) > T(0.9999))
+ return x;
+ float Angle = acos(y);
+ float NewAngle = Angle * y;
+ float Div = sin(NewAngle) / sin(Angle);
+ return detail::tquat<T>(
+ cos(NewAngle),
+ x.x * Div,
+ x.y * Div,
+ x.z * Div);
+ }
+
+ //template <typename T>
+ //GLM_FUNC_QUALIFIER detail::tquat<T> sqrt
+ //(
+ // detail::tquat<T> const & q
+ //)
+ //{
+ // T q0 = T(1) - dot(q, q);
+ // return T(2) * (T(1) + q0) * q;
+ //}
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tvec3<T> rotate
+ (
+ detail::tquat<T> const & q,
+ detail::tvec3<T> const & v
+ )
+ {
+ return q * v;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tvec4<T> rotate
+ (
+ detail::tquat<T> const & q,
+ detail::tvec4<T> const & v
+ )
+ {
+ return q * v;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER T angle
+ (
+ detail::tquat<T> const & x
+ )
+ {
+ return glm::degrees(acos(x.w) * T(2));
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tvec3<T> axis
+ (
+ detail::tquat<T> const & x
+ )
+ {
+ T tmp1 = T(1) - x.w * x.w;
+ if(tmp1 <= T(0))
+ return detail::tvec3<T>(0, 0, 1);
+ T tmp2 = T(1) / sqrt(tmp1);
+ return detail::tvec3<T>(x.x * tmp2, x.y * tmp2, x.z * tmp2);
+ }
+
+ template <typename valType>
+ GLM_FUNC_QUALIFIER detail::tquat<valType> angleAxis
+ (
+ valType const & angle,
+ valType const & x,
+ valType const & y,
+ valType const & z
+ )
+ {
+ return angleAxis(angle, detail::tvec3<valType>(x, y, z));
+ }
+
+ template <typename valType>
+ GLM_FUNC_QUALIFIER detail::tquat<valType> angleAxis
+ (
+ valType const & angle,
+ detail::tvec3<valType> const & v
+ )
+ {
+ detail::tquat<valType> result;
+
+ valType a = glm::radians(angle);
+ valType s = glm::sin(a * valType(0.5));
+
+ result.w = glm::cos(a * valType(0.5));
+ result.x = v.x * s;
+ result.y = v.y * s;
+ result.z = v.z * s;
+ return result;
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER T extractRealComponent
+ (
+ detail::tquat<T> const & q
+ )
+ {
+ T w = T(1.0) - q.x * q.x - q.y * q.y - q.z * q.z;
+ if(w < T(0))
+ return T(0);
+ else
+ return -sqrt(w);
+ }
+
+ template <typename valType>
+ GLM_FUNC_QUALIFIER valType roll
+ (
+ detail::tquat<valType> const & q
+ )
+ {
+ return atan2(valType(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);
+ }
+
+ template <typename valType>
+ GLM_FUNC_QUALIFIER valType pitch
+ (
+ detail::tquat<valType> const & q
+ )
+ {
+ return atan2(valType(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);
+ }
+
+ template <typename valType>
+ GLM_FUNC_QUALIFIER valType yaw
+ (
+ detail::tquat<valType> const & q
+ )
+ {
+ return asin(valType(-2) * (q.x * q.z - q.w * q.y));
+ }
+
+ template <typename valType>
+ GLM_FUNC_QUALIFIER detail::tvec3<valType> eularAngles
+ (
+ detail::tquat<valType> const & x
+ )
+ {
+ return detail::tvec3<valType>(pitch(x), yaw(x), roll(x));
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tquat<T> shortMix
+ (
+ detail::tquat<T> const & x,
+ detail::tquat<T> const & y,
+ T const & a
+ )
+ {
+ if(a <= typename detail::tquat<T>::value_type(0)) return x;
+ if(a >= typename detail::tquat<T>::value_type(1)) return y;
+
+ T fCos = dot(x, y);
+ detail::tquat<T> y2(y); //BUG!!! tquat<T> y2;
+ if(fCos < T(0))
+ {
+ y2 = -y;
+ fCos = -fCos;
+ }
+
+ //if(fCos > 1.0f) // problem
+ T k0, k1;
+ if(fCos > T(0.9999))
+ {
+ k0 = T(1) - a;
+ k1 = T(0) + a; //BUG!!! 1.0f + a;
+ }
+ else
+ {
+ T fSin = sqrt(T(1) - fCos * fCos);
+ T fAngle = atan(fSin, fCos);
+ T fOneOverSin = T(1) / fSin;
+ k0 = sin((T(1) - a) * fAngle) * fOneOverSin;
+ k1 = sin((T(0) + a) * fAngle) * fOneOverSin;
+ }
+
+ return detail::tquat<T>(
+ k0 * x.w + k1 * y2.w,
+ k0 * x.x + k1 * y2.x,
+ k0 * x.y + k1 * y2.y,
+ k0 * x.z + k1 * y2.z);
+ }
+
+ template <typename T>
+ GLM_FUNC_QUALIFIER detail::tquat<T> fastMix
+ (
+ detail::tquat<T> const & x,
+ detail::tquat<T> const & y,
+ T const & a
+ )
+ {
+ return glm::normalize(x * (T(1) - a) + (y * a));
+ }
+
+}//namespace quaternion
+}//namespace gtx
+}//namespace glm
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