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Diffstat (limited to 'include/gal/opengl/glm/gtx/quaternion.inl')
| -rw-r--r-- | include/gal/opengl/glm/gtx/quaternion.inl | 208 |
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 |