1 files changed, 54 insertions, 61 deletions

diff --git a/external/include/glm/gtx/matrix_decompose.inl b/external/include/glm/gtx/matrix_decompose.inl
index 7194e9d..02a5acc 100644
--- a/external/include/glm/gtx/matrix_decompose.inl
+++ b/external/include/glm/gtx/matrix_decompose.inl
@@ -1,22 +1,25 @@
 /// @ref gtx_matrix_decompose
 /// @file glm/gtx/matrix_decompose.inl
 
+#include "../gtc/constants.hpp"
+#include "../gtc/epsilon.hpp"
+
 namespace glm{
 namespace detail
 {
 	/// Make a linear combination of two vectors and return the result.
 	// result = (a * ascl) + (b * bscl)
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tvec3<T, P> combine(
-		tvec3<T, P> const & a, 
-		tvec3<T, P> const & b,
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER vec<3, T, Q> combine(
+		vec<3, T, Q> const& a,
+		vec<3, T, Q> const& b,
 		T ascl, T bscl)
 	{
 		return (a * ascl) + (b * bscl);
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tvec3<T, P> scale(tvec3<T, P> const& v, T desiredLength)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER vec<3, T, Q> scale(vec<3, T, Q> const& v, T desiredLength)
 	{
 		return v * desiredLength / length(v);
 	}
@@ -26,13 +29,13 @@ namespace detail
 	// http://www.opensource.apple.com/source/WebCore/WebCore-514/platform/graphics/transforms/TransformationMatrix.cpp
 	// Decomposes the mode matrix to translations,rotation scale components
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER bool decompose(tmat4x4<T, P> const & ModelMatrix, tvec3<T, P> & Scale, tquat<T, P> & Orientation, tvec3<T, P> & Translation, tvec3<T, P> & Skew, tvec4<T, P> & Perspective)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER bool decompose(mat<4, 4, T, Q> const& ModelMatrix, vec<3, T, Q> & Scale, tquat<T, Q> & Orientation, vec<3, T, Q> & Translation, vec<3, T, Q> & Skew, vec<4, T, Q> & Perspective)
 	{
-		tmat4x4<T, P> LocalMatrix(ModelMatrix);
+		mat<4, 4, T, Q> LocalMatrix(ModelMatrix);
 
 		// Normalize the matrix.
-		if(LocalMatrix[3][3] == static_cast<T>(0))
+		if(epsilonEqual(LocalMatrix[3][3], static_cast<T>(0), epsilon<T>()))
 			return false;
 
 		for(length_t i = 0; i < 4; ++i)
@@ -41,21 +44,24 @@ namespace detail
 
 		// perspectiveMatrix is used to solve for perspective, but it also provides
 		// an easy way to test for singularity of the upper 3x3 component.
-		tmat4x4<T, P> PerspectiveMatrix(LocalMatrix);
+		mat<4, 4, T, Q> PerspectiveMatrix(LocalMatrix);
 
 		for(length_t i = 0; i < 3; i++)
 			PerspectiveMatrix[i][3] = static_cast<T>(0);
 		PerspectiveMatrix[3][3] = static_cast<T>(1);
 
 		/// TODO: Fixme!
-		if(determinant(PerspectiveMatrix) == static_cast<T>(0))
+		if(epsilonEqual(determinant(PerspectiveMatrix), static_cast<T>(0), epsilon<T>()))
 			return false;
 
 		// First, isolate perspective.  This is the messiest.
-		if(LocalMatrix[0][3] != static_cast<T>(0) || LocalMatrix[1][3] != static_cast<T>(0) || LocalMatrix[2][3] != static_cast<T>(0))
+		if(
+			epsilonNotEqual(LocalMatrix[0][3], static_cast<T>(0), epsilon<T>()) ||
+			epsilonNotEqual(LocalMatrix[1][3], static_cast<T>(0), epsilon<T>()) ||
+			epsilonNotEqual(LocalMatrix[2][3], static_cast<T>(0), epsilon<T>()))
 		{
 			// rightHandSide is the right hand side of the equation.
-			tvec4<T, P> RightHandSide;
+			vec<4, T, Q> RightHandSide;
 			RightHandSide[0] = LocalMatrix[0][3];
 			RightHandSide[1] = LocalMatrix[1][3];
 			RightHandSide[2] = LocalMatrix[2][3];
@@ -64,8 +70,8 @@ namespace detail
 			// Solve the equation by inverting PerspectiveMatrix and multiplying
 			// rightHandSide by the inverse.  (This is the easiest way, not
 			// necessarily the best.)
-			tmat4x4<T, P> InversePerspectiveMatrix = glm::inverse(PerspectiveMatrix);//   inverse(PerspectiveMatrix, inversePerspectiveMatrix);
-			tmat4x4<T, P> TransposedInversePerspectiveMatrix = glm::transpose(InversePerspectiveMatrix);//   transposeMatrix4(inversePerspectiveMatrix, transposedInversePerspectiveMatrix);
+			mat<4, 4, T, Q> InversePerspectiveMatrix = glm::inverse(PerspectiveMatrix);//   inverse(PerspectiveMatrix, inversePerspectiveMatrix);
+			mat<4, 4, T, Q> TransposedInversePerspectiveMatrix = glm::transpose(InversePerspectiveMatrix);//   transposeMatrix4(inversePerspectiveMatrix, transposedInversePerspectiveMatrix);
 
 			Perspective = TransposedInversePerspectiveMatrix * RightHandSide;
 			//  v4MulPointByMatrix(rightHandSide, transposedInversePerspectiveMatrix, perspectivePoint);
@@ -77,19 +83,19 @@ namespace detail
 		else
 		{
 			// No perspective.
-			Perspective = tvec4<T, P>(0, 0, 0, 1);
+			Perspective = vec<4, T, Q>(0, 0, 0, 1);
 		}
 
 		// Next take care of translation (easy).
-		Translation = tvec3<T, P>(LocalMatrix[3]);
-		LocalMatrix[3] = tvec4<T, P>(0, 0, 0, LocalMatrix[3].w);
+		Translation = vec<3, T, Q>(LocalMatrix[3]);
+		LocalMatrix[3] = vec<4, T, Q>(0, 0, 0, LocalMatrix[3].w);
 
-		tvec3<T, P> Row[3], Pdum3;
+		vec<3, T, Q> Row[3], Pdum3;
 
 		// Now get scale and shear.
 		for(length_t i = 0; i < 3; ++i)
-			for(int j = 0; j < 3; ++j)
-				Row[i][j] = LocalMatrix[i][j];
+		for(length_t j = 0; j < 3; ++j)
+			Row[i][j] = LocalMatrix[i][j];
 
 		// Compute X scale factor and normalize first row.
 		Scale.x = length(Row[0]);// v3Length(Row[0]);
@@ -147,47 +153,34 @@ namespace detail
 		//     ret.rotateZ = 0;
 		// }
 
-		T s, t, x, y, z, w;
-
-		t = Row[0][0] + Row[1][1] + Row[2][2] + static_cast<T>(1);
-
-		if(t > static_cast<T>(1e-4))
+		int i, j, k = 0;
+		float root, trace = Row[0].x + Row[1].y + Row[2].z;
+		if(trace > static_cast<T>(0))
 		{
-			s = static_cast<T>(0.5) / sqrt(t);
-			w = static_cast<T>(0.25) / s;
-			x = (Row[2][1] - Row[1][2]) * s;
-			y = (Row[0][2] - Row[2][0]) * s;
-			z = (Row[1][0] - Row[0][1]) * s;
-		}
-		else if(Row[0][0] > Row[1][1] && Row[0][0] > Row[2][2])
-		{ 
-			s = sqrt (static_cast<T>(1) + Row[0][0] - Row[1][1] - Row[2][2]) * static_cast<T>(2); // S=4*qx 
-			x = static_cast<T>(0.25) * s;
-			y = (Row[0][1] + Row[1][0]) / s; 
-			z = (Row[0][2] + Row[2][0]) / s; 
-			w = (Row[2][1] - Row[1][2]) / s;
-		}
-		else if(Row[1][1] > Row[2][2])
-		{ 
-			s = sqrt (static_cast<T>(1) + Row[1][1] - Row[0][0] - Row[2][2]) * static_cast<T>(2); // S=4*qy
-			x = (Row[0][1] + Row[1][0]) / s; 
-			y = static_cast<T>(0.25) * s;
-			z = (Row[1][2] + Row[2][1]) / s; 
-			w = (Row[0][2] - Row[2][0]) / s;
-		}
+			root = sqrt(trace + static_cast<T>(1.0));
+			Orientation.w = static_cast<T>(0.5) * root;
+			root = static_cast<T>(0.5) / root;
+			Orientation.x = root * (Row[1].z - Row[2].y);
+			Orientation.y = root * (Row[2].x - Row[0].z);
+			Orientation.z = root * (Row[0].y - Row[1].x);
+		} // End if > 0
 		else
-		{ 
-			s = sqrt(static_cast<T>(1) + Row[2][2] - Row[0][0] - Row[1][1]) * static_cast<T>(2); // S=4*qz
-			x = (Row[0][2] + Row[2][0]) / s;
-			y = (Row[1][2] + Row[2][1]) / s; 
-			z = static_cast<T>(0.25) * s;
-			w = (Row[1][0] - Row[0][1]) / s;
-		}
-
-		Orientation.x = x;
-		Orientation.y = y;
-		Orientation.z = z;
-		Orientation.w = w;
+		{
+			static int Next[3] = {1, 2, 0};
+			i = 0;
+			if(Row[1].y > Row[0].x) i = 1;
+			if(Row[2].z > Row[i][i]) i = 2;
+			j = Next[i];
+			k = Next[j];
+
+			root = sqrt(Row[i][i] - Row[j][j] - Row[k][k] + static_cast<T>(1.0));
+
+			Orientation[i] = static_cast<T>(0.5) * root;
+			root = static_cast<T>(0.5) / root;
+			Orientation[j] = root * (Row[i][j] + Row[j][i]);
+			Orientation[k] = root * (Row[i][k] + Row[k][i]);
+			Orientation.w = root * (Row[j][k] - Row[k][j]);
+		} // End if <= 0
 
 		return true;
 	}