Merge pull request #4 from FOSSEE/develop

merging dev into master

1 files changed, 208 insertions, 0 deletions

diff --git a/include/gal/opengl/glm/gtx/quaternion.inl b/include/gal/opengl/glm/gtx/quaternion.inl
new file mode 100644
index 0000000..32155ce
--- /dev/null
+++ b/include/gal/opengl/glm/gtx/quaternion.inl
@@ -0,0 +1,208 @@
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// OpenGL Mathematics Copyright (c) 2005 - 2013 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
+{
+	template <typename valType> 
+	GLM_FUNC_QUALIFIER detail::tvec3<valType> cross
+	(
+		detail::tvec3<valType> const & v, 
+		detail::tquat<valType> const & q
+	)
+	{
+		return 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) * (T(1) - h) * 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 = inverse(curr);
+		return exp((log(next + invQuat) + log(prev + invQuat)) / T(-4)) * curr;
+	}
+
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tquat<T> exp
+	(
+		detail::tquat<T> const & q
+	)
+	{
+		detail::tvec3<T> u(q.x, q.y, q.z);
+		float Angle = glm::length(u);
+		detail::tvec3<T> v(u / Angle);
+		return detail::tquat<T>(cos(Angle), sin(Angle) * 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 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 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 glm