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Diffstat (limited to 'depedencies/include/glm/gtx/quaternion.inl')
| -rw-r--r-- | depedencies/include/glm/gtx/quaternion.inl | 212 |
1 files changed, 0 insertions, 212 deletions
diff --git a/depedencies/include/glm/gtx/quaternion.inl b/depedencies/include/glm/gtx/quaternion.inl deleted file mode 100644 index c86ec18..0000000 --- a/depedencies/include/glm/gtx/quaternion.inl +++ /dev/null @@ -1,212 +0,0 @@ -/// @ref gtx_quaternion -/// @file glm/gtx/quaternion.inl - -#include <limits> -#include "../gtc/constants.hpp" - -namespace glm -{ - template <typename T, precision P> - GLM_FUNC_QUALIFIER tvec3<T, P> cross(tvec3<T, P> const& v, tquat<T, P> const& q) - { - return inverse(q) * v; - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tvec3<T, P> cross(tquat<T, P> const& q, tvec3<T, P> const& v) - { - return q * v; - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tquat<T, P> squad - ( - tquat<T, P> const & q1, - tquat<T, P> const & q2, - tquat<T, P> const & s1, - tquat<T, P> const & s2, - T const & h) - { - return mix(mix(q1, q2, h), mix(s1, s2, h), static_cast<T>(2) * (static_cast<T>(1) - h) * h); - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tquat<T, P> intermediate - ( - tquat<T, P> const & prev, - tquat<T, P> const & curr, - tquat<T, P> const & next - ) - { - tquat<T, P> invQuat = inverse(curr); - return exp((log(next + invQuat) + log(prev + invQuat)) / static_cast<T>(-4)) * curr; - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tquat<T, P> exp(tquat<T, P> const& q) - { - tvec3<T, P> u(q.x, q.y, q.z); - T const Angle = glm::length(u); - if (Angle < epsilon<T>()) - return tquat<T, P>(); - - tvec3<T, P> const v(u / Angle); - return tquat<T, P>(cos(Angle), sin(Angle) * v); - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tquat<T, P> log(tquat<T, P> const& q) - { - tvec3<T, P> u(q.x, q.y, q.z); - T Vec3Len = length(u); - - if (Vec3Len < epsilon<T>()) - { - if(q.w > static_cast<T>(0)) - return tquat<T, P>(log(q.w), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0)); - else if(q.w < static_cast<T>(0)) - return tquat<T, P>(log(-q.w), pi<T>(), static_cast<T>(0), static_cast<T>(0)); - else - return tquat<T, P>(std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity(), std::numeric_limits<T>::infinity()); - } - else - { - T t = atan(Vec3Len, T(q.w)) / Vec3Len; - T QuatLen2 = Vec3Len * Vec3Len + q.w * q.w; - return tquat<T, P>(static_cast<T>(0.5) * log(QuatLen2), t * q.x, t * q.y, t * q.z); - } - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tquat<T, P> pow(tquat<T, P> const & x, T const & y) - { - //Raising to the power of 0 should yield 1 - //Needed to prevent a division by 0 error later on - if(y > -epsilon<T>() && y < epsilon<T>()) - return tquat<T, P>(1,0,0,0); - - //To deal with non-unit quaternions - T magnitude = sqrt(x.x * x.x + x.y * x.y + x.z * x.z + x.w *x.w); - - //Equivalent to raising a real number to a power - //Needed to prevent a division by 0 error later on - if(abs(x.w / magnitude) > static_cast<T>(1) - epsilon<T>() && abs(x.w / magnitude) < static_cast<T>(1) + epsilon<T>()) - return tquat<T, P>(pow(x.w, y),0,0,0); - - T Angle = acos(x.w / magnitude); - T NewAngle = Angle * y; - T Div = sin(NewAngle) / sin(Angle); - T Mag = pow(magnitude, y - static_cast<T>(1)); - - return tquat<T, P>(cos(NewAngle) * magnitude * Mag, x.x * Div * Mag, x.y * Div * Mag, x.z * Div * Mag); - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tvec3<T, P> rotate(tquat<T, P> const& q, tvec3<T, P> const& v) - { - return q * v; - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tvec4<T, P> rotate(tquat<T, P> const& q, tvec4<T, P> const& v) - { - return q * v; - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER T extractRealComponent(tquat<T, P> const& q) - { - T w = static_cast<T>(1) - 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, precision P> - GLM_FUNC_QUALIFIER T length2(tquat<T, P> const& q) - { - return q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w; - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tquat<T, P> shortMix(tquat<T, P> const& x, tquat<T, P> const& y, T const& a) - { - if(a <= static_cast<T>(0)) return x; - if(a >= static_cast<T>(1)) return y; - - T fCos = dot(x, y); - tquat<T, P> y2(y); //BUG!!! tquat<T> y2; - if(fCos < static_cast<T>(0)) - { - y2 = -y; - fCos = -fCos; - } - - //if(fCos > 1.0f) // problem - T k0, k1; - if(fCos > (static_cast<T>(1) - epsilon<T>())) - { - k0 = static_cast<T>(1) - a; - k1 = static_cast<T>(0) + a; //BUG!!! 1.0f + a; - } - else - { - T fSin = sqrt(T(1) - fCos * fCos); - T fAngle = atan(fSin, fCos); - T fOneOverSin = static_cast<T>(1) / fSin; - k0 = sin((static_cast<T>(1) - a) * fAngle) * fOneOverSin; - k1 = sin((static_cast<T>(0) + a) * fAngle) * fOneOverSin; - } - - return tquat<T, P>( - 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, precision P> - GLM_FUNC_QUALIFIER tquat<T, P> fastMix(tquat<T, P> const& x, tquat<T, P> const& y, T const & a) - { - return glm::normalize(x * (static_cast<T>(1) - a) + (y * a)); - } - - template <typename T, precision P> - GLM_FUNC_QUALIFIER tquat<T, P> rotation(tvec3<T, P> const& orig, tvec3<T, P> const& dest) - { - T cosTheta = dot(orig, dest); - tvec3<T, P> rotationAxis; - - if(cosTheta >= static_cast<T>(1) - epsilon<T>()) - return quat(); - - if(cosTheta < static_cast<T>(-1) + epsilon<T>()) - { - // special case when vectors in opposite directions : - // there is no "ideal" rotation axis - // So guess one; any will do as long as it's perpendicular to start - // This implementation favors a rotation around the Up axis (Y), - // since it's often what you want to do. - rotationAxis = cross(tvec3<T, P>(0, 0, 1), orig); - if(length2(rotationAxis) < epsilon<T>()) // bad luck, they were parallel, try again! - rotationAxis = cross(tvec3<T, P>(1, 0, 0), orig); - - rotationAxis = normalize(rotationAxis); - return angleAxis(pi<T>(), rotationAxis); - } - - // Implementation from Stan Melax's Game Programming Gems 1 article - rotationAxis = cross(orig, dest); - - T s = sqrt((T(1) + cosTheta) * static_cast<T>(2)); - T invs = static_cast<T>(1) / s; - - return tquat<T, P>( - s * static_cast<T>(0.5f), - rotationAxis.x * invs, - rotationAxis.y * invs, - rotationAxis.z * invs); - } - -}//namespace glm |