type_quat.inl

#include "../trigonometric.hpp"
#include "../exponential.hpp"
#include "../ext/quaternion_geometric.hpp"
#include <limits>
 
namespace glm{
namespace detail
{
    template <typename T>
    struct genTypeTrait<qua<T> >
    {
        static const genTypeEnum GENTYPE = GENTYPE_QUAT;
    };
 
    template<typename T, qualifier Q, bool Aligned>
    struct compute_dot<qua<T, Q>, T, Aligned>
    {
        GLM_FUNC_QUALIFIER GLM_CONSTEXPR static T call(qua<T, Q> const& a, qua<T, Q> const& b)
        {
            vec<4, T, Q> tmp(a.w * b.w, a.x * b.x, a.y * b.y, a.z * b.z);
            return (tmp.x + tmp.y) + (tmp.z + tmp.w);
        }
    };
 
    template<typename T, qualifier Q, bool Aligned>
    struct compute_quat_add
    {
        GLM_FUNC_QUALIFIER GLM_CONSTEXPR static qua<T, Q> call(qua<T, Q> const& q, qua<T, Q> const& p)
        {
            return qua<T, Q>(q.w + p.w, q.x + p.x, q.y + p.y, q.z + p.z);
        }
    };
 
    template<typename T, qualifier Q, bool Aligned>
    struct compute_quat_sub
    {
        GLM_FUNC_QUALIFIER GLM_CONSTEXPR static qua<T, Q> call(qua<T, Q> const& q, qua<T, Q> const& p)
        {
            return qua<T, Q>(q.w - p.w, q.x - p.x, q.y - p.y, q.z - p.z);
        }
    };
 
    template<typename T, qualifier Q, bool Aligned>
    struct compute_quat_mul_scalar
    {
        GLM_FUNC_QUALIFIER GLM_CONSTEXPR static qua<T, Q> call(qua<T, Q> const& q, T s)
        {
            return qua<T, Q>(q.w * s, q.x * s, q.y * s, q.z * s);
        }
    };
 
    template<typename T, qualifier Q, bool Aligned>
    struct compute_quat_div_scalar
    {
        GLM_FUNC_QUALIFIER GLM_CONSTEXPR static qua<T, Q> call(qua<T, Q> const& q, T s)
        {
            return qua<T, Q>(q.w / s, q.x / s, q.y / s, q.z / s);
        }
    };
 
    template<typename T, qualifier Q, bool Aligned>
    struct compute_quat_mul_vec4
    {
        GLM_FUNC_QUALIFIER GLM_CONSTEXPR static vec<4, T, Q> call(qua<T, Q> const& q, vec<4, T, Q> const& v)
        {
            return vec<4, T, Q>(q * vec<3, T, Q>(v), v.w);
        }
    };
}//namespace detail
 
    // -- Component accesses --
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR T & qua<T, Q>::operator[](typename qua<T, Q>::length_type i)
    {
        assert(i >= 0 && i < this->length());
#       ifdef GLM_FORCE_QUAT_DATA_WXYZ
            return (&w)[i];
#       else
            return (&x)[i];
#       endif
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR T const& qua<T, Q>::operator[](typename qua<T, Q>::length_type i) const
    {
        assert(i >= 0 && i < this->length());
#       ifdef GLM_FORCE_QUAT_DATA_WXYZ
            return (&w)[i];
#       else
            return (&x)[i];
#       endif
    }
 
    // -- Implicit basic constructors --
 
#   if GLM_CONFIG_DEFAULTED_FUNCTIONS == GLM_DISABLE
        template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua()
#           if GLM_CONFIG_CTOR_INIT != GLM_CTOR_INIT_DISABLE
#               ifdef GLM_FORCE_QUAT_DATA_WXYZ
                    : w(1), x(0), y(0), z(0)
#               else
                    : x(0), y(0), z(0), w(1)
#               endif
#           endif
        {}
 
        template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(qua<T, Q> const& q)
#           ifdef GLM_FORCE_QUAT_DATA_WXYZ
                : w(q.w), x(q.x), y(q.y), z(q.z)
#           else
                : x(q.x), y(q.y), z(q.z), w(q.w)
#           endif
        {}
#   endif
 
    template<typename T, qualifier Q>
    template<qualifier P>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(qua<T, P> const& q)
#       ifdef GLM_FORCE_QUAT_DATA_WXYZ
            : w(q.w), x(q.x), y(q.y), z(q.z)
#       else
            : x(q.x), y(q.y), z(q.z), w(q.w)
#       endif
    {}
 
    // -- Explicit basic constructors --
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(T s, vec<3, T, Q> const& v)
#       ifdef GLM_FORCE_QUAT_DATA_WXYZ
            : w(s), x(v.x), y(v.y), z(v.z)
#       else
            : x(v.x), y(v.y), z(v.z), w(s)
#       endif
    {}
 
    template <typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(T _w, T _x, T _y, T _z)
#       ifdef GLM_FORCE_QUAT_DATA_WXYZ
            : w(_w), x(_x), y(_y), z(_z)
#       else
            : x(_x), y(_y), z(_z), w(_w)
#       endif
    {}
 
    // -- Conversion constructors --
 
    template<typename T, qualifier Q>
    template<typename U, qualifier P>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(qua<U, P> const& q)
#       ifdef GLM_FORCE_QUAT_DATA_WXYZ
            : w(static_cast<T>(q.w)), x(static_cast<T>(q.x)), y(static_cast<T>(q.y)), z(static_cast<T>(q.z))
#       else
            : x(static_cast<T>(q.x)), y(static_cast<T>(q.y)), z(static_cast<T>(q.z)), w(static_cast<T>(q.w))
#       endif
    {}
 
    //template<typename valType>
    //GLM_FUNC_QUALIFIER qua<valType>::qua
    //(
    //  valType const& pitch,
    //  valType const& yaw,
    //  valType const& roll
    //)
    //{
    //  vec<3, valType> eulerAngle(pitch * valType(0.5), yaw * valType(0.5), roll * valType(0.5));
    //  vec<3, valType> c = glm::cos(eulerAngle * valType(0.5));
    //  vec<3, valType> s = glm::sin(eulerAngle * valType(0.5));
    //
    //  this->w = c.x * c.y * c.z + s.x * s.y * s.z;
    //  this->x = s.x * c.y * c.z - c.x * s.y * s.z;
    //  this->y = c.x * s.y * c.z + s.x * c.y * s.z;
    //  this->z = c.x * c.y * s.z - s.x * s.y * c.z;
    //}
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER qua<T, Q>::qua(vec<3, T, Q> const& u, vec<3, T, Q> const& v)
    {
        T norm_u_norm_v = sqrt(dot(u, u) * dot(v, v));
        T real_part = norm_u_norm_v + dot(u, v);
        vec<3, T, Q> t;
 
        if(real_part < static_cast<T>(1.e-6f) * norm_u_norm_v)
        {
            // If u and v are exactly opposite, rotate 180 degrees
            // around an arbitrary orthogonal axis. Axis normalisation
            // can happen later, when we normalise the quaternion.
            real_part = static_cast<T>(0);
            t = abs(u.x) > abs(u.z) ? vec<3, T, Q>(-u.y, u.x, static_cast<T>(0)) : vec<3, T, Q>(static_cast<T>(0), -u.z, u.y);
        }
        else
        {
            // Otherwise, build quaternion the standard way.
            t = cross(u, v);
        }
 
        *this = normalize(qua<T, Q>(real_part, t.x, t.y, t.z));
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q>::qua(vec<3, T, Q> const& eulerAngle)
    {
        vec<3, T, Q> c = glm::cos(eulerAngle * T(0.5));
        vec<3, T, Q> s = glm::sin(eulerAngle * T(0.5));
 
        this->w = c.x * c.y * c.z + s.x * s.y * s.z;
        this->x = s.x * c.y * c.z - c.x * s.y * s.z;
        this->y = c.x * s.y * c.z + s.x * c.y * s.z;
        this->z = c.x * c.y * s.z - s.x * s.y * c.z;
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER qua<T, Q>::qua(mat<3, 3, T, Q> const& m)
    {
        *this = quat_cast(m);
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER qua<T, Q>::qua(mat<4, 4, T, Q> const& m)
    {
        *this = quat_cast(m);
    }
 
#   if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER qua<T, Q>::operator mat<3, 3, T, Q>() const
    {
        return mat3_cast(*this);
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER qua<T, Q>::operator mat<4, 4, T, Q>() const
    {
        return mat4_cast(*this);
    }
#   endif//GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
 
    // -- Unary arithmetic operators --
 
#   if GLM_CONFIG_DEFAULTED_FUNCTIONS == GLM_DISABLE
        template<typename T, qualifier Q>
        GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator=(qua<T, Q> const& q)
        {
            this->w = q.w;
            this->x = q.x;
            this->y = q.y;
            this->z = q.z;
            return *this;
        }
#   endif
 
    template<typename T, qualifier Q>
    template<typename U>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator=(qua<U, Q> const& q)
    {
        this->w = static_cast<T>(q.w);
        this->x = static_cast<T>(q.x);
        this->y = static_cast<T>(q.y);
        this->z = static_cast<T>(q.z);
        return *this;
    }
 
    template<typename T, qualifier Q>
    template<typename U>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator+=(qua<U, Q> const& q)
    {
        return (*this = detail::compute_quat_add<T, Q, detail::is_aligned<Q>::value>::call(*this, qua<T, Q>(q)));
    }
 
    template<typename T, qualifier Q>
    template<typename U>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator-=(qua<U, Q> const& q)
    {
        return (*this = detail::compute_quat_sub<T, Q, detail::is_aligned<Q>::value>::call(*this, qua<T, Q>(q)));
    }
 
    template<typename T, qualifier Q>
    template<typename U>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator*=(qua<U, Q> const& r)
    {
        qua<T, Q> const p(*this);
        qua<T, Q> const q(r);
 
        this->w = p.w * q.w - p.x * q.x - p.y * q.y - p.z * q.z;
        this->x = p.w * q.x + p.x * q.w + p.y * q.z - p.z * q.y;
        this->y = p.w * q.y + p.y * q.w + p.z * q.x - p.x * q.z;
        this->z = p.w * q.z + p.z * q.w + p.x * q.y - p.y * q.x;
        return *this;
    }
 
    template<typename T, qualifier Q>
    template<typename U>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator*=(U s)
    {
        return (*this = detail::compute_quat_mul_scalar<T, Q, detail::is_aligned<Q>::value>::call(*this, static_cast<U>(s)));
    }
 
    template<typename T, qualifier Q>
    template<typename U>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> & qua<T, Q>::operator/=(U s)
    {
        return (*this = detail::compute_quat_div_scalar<T, Q, detail::is_aligned<Q>::value>::call(*this, static_cast<U>(s)));
    }
 
    // -- Unary bit operators --
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator+(qua<T, Q> const& q)
    {
        return q;
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator-(qua<T, Q> const& q)
    {
        return qua<T, Q>(-q.w, -q.x, -q.y, -q.z);
    }
 
    // -- Binary operators --
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator+(qua<T, Q> const& q, qua<T, Q> const& p)
    {
        return qua<T, Q>(q) += p;
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator-(qua<T, Q> const& q, qua<T, Q> const& p)
    {
        return qua<T, Q>(q) -= p;
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator*(qua<T, Q> const& q, qua<T, Q> const& p)
    {
        return qua<T, Q>(q) *= p;
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR vec<3, T, Q> operator*(qua<T, Q> const& q, vec<3, T, Q> const& v)
    {
        vec<3, T, Q> const QuatVector(q.x, q.y, q.z);
        vec<3, T, Q> const uv(glm::cross(QuatVector, v));
        vec<3, T, Q> const uuv(glm::cross(QuatVector, uv));
 
        return v + ((uv * q.w) + uuv) * static_cast<T>(2);
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR vec<3, T, Q> operator*(vec<3, T, Q> const& v, qua<T, Q> const& q)
    {
        return glm::inverse(q) * v;
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR vec<4, T, Q> operator*(qua<T, Q> const& q, vec<4, T, Q> const& v)
    {
        return detail::compute_quat_mul_vec4<T, Q, detail::is_aligned<Q>::value>::call(q, v);
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR vec<4, T, Q> operator*(vec<4, T, Q> const& v, qua<T, Q> const& q)
    {
        return glm::inverse(q) * v;
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator*(qua<T, Q> const& q, T const& s)
    {
        return qua<T, Q>(
            q.w * s, q.x * s, q.y * s, q.z * s);
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator*(T const& s, qua<T, Q> const& q)
    {
        return q * s;
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> operator/(qua<T, Q> const& q, T const& s)
    {
        return qua<T, Q>(
            q.w / s, q.x / s, q.y / s, q.z / s);
    }
 
    // -- Boolean operators --
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR bool operator==(qua<T, Q> const& q1, qua<T, Q> const& q2)
    {
        return q1.x == q2.x && q1.y == q2.y && q1.z == q2.z && q1.w == q2.w;
    }
 
    template<typename T, qualifier Q>
    GLM_FUNC_QUALIFIER GLM_CONSTEXPR bool operator!=(qua<T, Q> const& q1, qua<T, Q> const& q2)
    {
        return q1.x != q2.x || q1.y != q2.y || q1.z != q2.z || q1.w != q2.w;
    }
}//namespace glm
 
#if GLM_CONFIG_SIMD == GLM_ENABLE
#   include "type_quat_simd.inl"
#endif