quaternion_geometric.inl

namespace glm
{
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER T dot(qua<T, Q> const& x, qua<T, Q> const& y)
    {
        GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'dot' accepts only floating-point inputs");
        return detail::compute_dot<qua<T, Q>, T, detail::is_aligned<Q>::value>::call(x, y);
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER T length(qua<T, Q> const& q)
    {
        return glm::sqrt(dot(q, q));
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER qua<T, Q> normalize(qua<T, Q> const& q)
    {
        T len = length(q);
        if(len <= static_cast<T>(0)) // Problem
            return qua<T, Q>(static_cast<T>(1), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0));
        T oneOverLen = static_cast<T>(1) / len;
        return qua<T, Q>(q.w * oneOverLen, q.x * oneOverLen, q.y * oneOverLen, q.z * oneOverLen);
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER qua<T, Q> cross(qua<T, Q> const& q1, qua<T, Q> const& q2)
    {
        return qua<T, Q>(
            q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z,
            q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y,
            q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z,
            q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x);
    }
}//namespace glm