diff options
Diffstat (limited to 'external/include/glm/gtx/dual_quaternion.inl')
| -rw-r--r-- | external/include/glm/gtx/dual_quaternion.inl | 240 |
1 files changed, 122 insertions, 118 deletions
diff --git a/external/include/glm/gtx/dual_quaternion.inl b/external/include/glm/gtx/dual_quaternion.inl index c3f2bc6..5c82b88 100644 --- a/external/include/glm/gtx/dual_quaternion.inl +++ b/external/include/glm/gtx/dual_quaternion.inl @@ -8,15 +8,15 @@ namespace glm { // -- Component accesses -- - template <typename T, precision P> - GLM_FUNC_QUALIFIER typename tdualquat<T, P>::part_type & tdualquat<T, P>::operator[](typename tdualquat<T, P>::length_type i) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER typename tdualquat<T, Q>::part_type & tdualquat<T, Q>::operator[](typename tdualquat<T, Q>::length_type i) { assert(i >= 0 && i < this->length()); return (&real)[i]; } - template <typename T, precision P> - GLM_FUNC_QUALIFIER typename tdualquat<T, P>::part_type const & tdualquat<T, P>::operator[](typename tdualquat<T, P>::length_type i) const + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER typename tdualquat<T, Q>::part_type const& tdualquat<T, Q>::operator[](typename tdualquat<T, Q>::length_type i) const { assert(i >= 0 && i < this->length()); return (&real)[i]; @@ -24,44 +24,40 @@ namespace glm // -- Implicit basic constructors -- -# if !GLM_HAS_DEFAULTED_FUNCTIONS || !defined(GLM_FORCE_NO_CTOR_INIT) - template <typename T, precision P> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat() -# ifndef GLM_FORCE_NO_CTOR_INIT - : real(tquat<T, P>()) - , dual(tquat<T, P>(0, 0, 0, 0)) +# if !GLM_HAS_DEFAULTED_FUNCTIONS || defined(GLM_FORCE_CTOR_INIT) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat() +# ifdef GLM_FORCE_CTOR_INIT + : real(tquat<T, Q>()) + , dual(tquat<T, Q>(0, 0, 0, 0)) # endif {} # endif # if !GLM_HAS_DEFAULTED_FUNCTIONS - template <typename T, precision P> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tdualquat<T, P> const & d) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tdualquat<T, Q> const& d) : real(d.real) , dual(d.dual) {} # endif//!GLM_HAS_DEFAULTED_FUNCTIONS - template <typename T, precision P> - template <precision Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tdualquat<T, Q> const & d) + template<typename T, qualifier Q> + template<qualifier P> + GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tdualquat<T, P> const& d) : real(d.real) , dual(d.dual) {} // -- Explicit basic constructors -- - template <typename T, precision P> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR_CTOR tdualquat<T, P>::tdualquat(ctor) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tquat<T, Q> const& r) + : real(r), dual(tquat<T, Q>(0, 0, 0, 0)) {} - template <typename T, precision P> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tquat<T, P> const & r) - : real(r), dual(tquat<T, P>(0, 0, 0, 0)) - {} - - template <typename T, precision P> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tquat<T, P> const & q, tvec3<T, P> const& p) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tquat<T, Q> const& q, vec<3, T, Q> const& p) : real(q), dual( T(-0.5) * ( p.x*q.x + p.y*q.y + p.z*q.z), T(+0.5) * ( p.x*q.w + p.y*q.z - p.z*q.y), @@ -69,28 +65,28 @@ namespace glm T(+0.5) * ( p.x*q.y - p.y*q.x + p.z*q.w)) {} - template <typename T, precision P> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tquat<T, P> const & r, tquat<T, P> const & d) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tquat<T, Q> const& r, tquat<T, Q> const& d) : real(r), dual(d) {} // -- Conversion constructors -- - template <typename T, precision P> - template <typename U, precision Q> - GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tdualquat<U, Q> const & q) + template<typename T, qualifier Q> + template<typename U, qualifier P> + GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tdualquat<U, P> const& q) : real(q.real) , dual(q.dual) {} - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tmat2x4<T, P> const & m) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q>::tdualquat(mat<2, 4, T, Q> const& m) { *this = dualquat_cast(m); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tmat3x4<T, P> const & m) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q>::tdualquat(mat<3, 4, T, Q> const& m) { *this = dualquat_cast(m); } @@ -98,8 +94,8 @@ namespace glm // -- Unary arithmetic operators -- # if !GLM_HAS_DEFAULTED_FUNCTIONS - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator=(tdualquat<T, P> const & q) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator=(tdualquat<T, Q> const& q) { this->real = q.real; this->dual = q.dual; @@ -107,27 +103,27 @@ namespace glm } # endif//!GLM_HAS_DEFAULTED_FUNCTIONS - template <typename T, precision P> - template <typename U> - GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator=(tdualquat<U, P> const & q) + template<typename T, qualifier Q> + template<typename U> + GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator=(tdualquat<U, Q> const& q) { this->real = q.real; this->dual = q.dual; return *this; } - template <typename T, precision P> - template <typename U> - GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator*=(U s) + template<typename T, qualifier Q> + template<typename U> + GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator*=(U s) { this->real *= static_cast<T>(s); this->dual *= static_cast<T>(s); return *this; } - template <typename T, precision P> - template <typename U> - GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator/=(U s) + template<typename T, qualifier Q> + template<typename U> + GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator/=(U s) { this->real /= static_cast<T>(s); this->dual /= static_cast<T>(s); @@ -136,100 +132,108 @@ namespace glm // -- Unary bit operators -- - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> operator+(tdualquat<T, P> const & q) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> operator+(tdualquat<T, Q> const& q) { return q; } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> operator-(tdualquat<T, P> const & q) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> operator-(tdualquat<T, Q> const& q) { - return tdualquat<T, P>(-q.real, -q.dual); + return tdualquat<T, Q>(-q.real, -q.dual); } // -- Binary operators -- - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> operator+(tdualquat<T, P> const & q, tdualquat<T, P> const & p) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> operator+(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p) { - return tdualquat<T, P>(q.real + p.real,q.dual + p.dual); + return tdualquat<T, Q>(q.real + p.real,q.dual + p.dual); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> operator*(tdualquat<T, P> const & p, tdualquat<T, P> const & o) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> operator*(tdualquat<T, Q> const& p, tdualquat<T, Q> const& o) { - return tdualquat<T, P>(p.real * o.real,p.real * o.dual + p.dual * o.real); + return tdualquat<T, Q>(p.real * o.real,p.real * o.dual + p.dual * o.real); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tvec3<T, P> operator*(tdualquat<T, P> const & q, tvec3<T, P> const & v) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER vec<3, T, Q> operator*(tdualquat<T, Q> const& q, vec<3, T, Q> const& v) { - tvec3<T, P> const real_v3(q.real.x,q.real.y,q.real.z); - tvec3<T, P> const dual_v3(q.dual.x,q.dual.y,q.dual.z); + vec<3, T, Q> const real_v3(q.real.x,q.real.y,q.real.z); + vec<3, T, Q> const dual_v3(q.dual.x,q.dual.y,q.dual.z); return (cross(real_v3, cross(real_v3,v) + v * q.real.w + dual_v3) + dual_v3 * q.real.w - real_v3 * q.dual.w) * T(2) + v; } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tvec3<T, P> operator*(tvec3<T, P> const & v, tdualquat<T, P> const & q) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER vec<3, T, Q> operator*(vec<3, T, Q> const& v, tdualquat<T, Q> const& q) { return glm::inverse(q) * v; } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tdualquat<T, P> const & q, tvec4<T, P> const & v) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER vec<4, T, Q> operator*(tdualquat<T, Q> const& q, vec<4, T, Q> const& v) { - return tvec4<T, P>(q * tvec3<T, P>(v), v.w); + return vec<4, T, Q>(q * vec<3, T, Q>(v), v.w); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tvec4<T, P> const & v, tdualquat<T, P> const & q) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER vec<4, T, Q> operator*(vec<4, T, Q> const& v, tdualquat<T, Q> const& q) { return glm::inverse(q) * v; } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> operator*(tdualquat<T, P> const & q, T const & s) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, T const& s) { - return tdualquat<T, P>(q.real * s, q.dual * s); + return tdualquat<T, Q>(q.real * s, q.dual * s); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> operator*(T const & s, tdualquat<T, P> const & q) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> const& q) { return q * s; } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> operator/(tdualquat<T, P> const & q, T const & s) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> operator/(tdualquat<T, Q> const& q, T const& s) { - return tdualquat<T, P>(q.real / s, q.dual / s); + return tdualquat<T, Q>(q.real / s, q.dual / s); } // -- Boolean operators -- - template <typename T, precision P> - GLM_FUNC_QUALIFIER bool operator==(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER bool operator==(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2) { return (q1.real == q2.real) && (q1.dual == q2.dual); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER bool operator!=(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2) { - return (q1.real != q2.dual) || (q1.real != q2.dual); + return (q1.real != q2.real) || (q1.dual != q2.dual); } // -- Operations -- - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> normalize(tdualquat<T, P> const & q) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> dual_quat_identity() + { + return tdualquat<T, Q>( + tquat<T, Q>(static_cast<T>(1), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0)), + tquat<T, Q>(static_cast<T>(0), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0))); + } + + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> normalize(tdualquat<T, Q> const& q) { return q / length(q.real); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> lerp(tdualquat<T, P> const & x, tdualquat<T, P> const & y, T const & a) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> lerp(tdualquat<T, Q> const& x, tdualquat<T, Q> const& y, T const& a) { // Dual Quaternion Linear blend aka DLB: // Lerp is only defined in [0, 1] @@ -237,72 +241,72 @@ namespace glm assert(a <= static_cast<T>(1)); T const k = dot(x.real,y.real) < static_cast<T>(0) ? -a : a; T const one(1); - return tdualquat<T, P>(x * (one - a) + y * k); + return tdualquat<T, Q>(x * (one - a) + y * k); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> inverse(tdualquat<T, P> const & q) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> inverse(tdualquat<T, Q> const& q) { - const glm::tquat<T, P> real = conjugate(q.real); - const glm::tquat<T, P> dual = conjugate(q.dual); - return tdualquat<T, P>(real, dual + (real * (-2.0f * dot(real,dual)))); + const glm::tquat<T, Q> real = conjugate(q.real); + const glm::tquat<T, Q> dual = conjugate(q.dual); + return tdualquat<T, Q>(real, dual + (real * (-2.0f * dot(real,dual)))); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tmat2x4<T, P> mat2x4_cast(tdualquat<T, P> const & x) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER mat<2, 4, T, Q> mat2x4_cast(tdualquat<T, Q> const& x) { - return tmat2x4<T, P>( x[0].x, x[0].y, x[0].z, x[0].w, x[1].x, x[1].y, x[1].z, x[1].w ); + return mat<2, 4, T, Q>( x[0].x, x[0].y, x[0].z, x[0].w, x[1].x, x[1].y, x[1].z, x[1].w ); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tmat3x4<T, P> mat3x4_cast(tdualquat<T, P> const & x) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER mat<3, 4, T, Q> mat3x4_cast(tdualquat<T, Q> const& x) { - tquat<T, P> r = x.real / length2(x.real); - - tquat<T, P> const rr(r.w * x.real.w, r.x * x.real.x, r.y * x.real.y, r.z * x.real.z); + tquat<T, Q> r = x.real / length2(x.real); + + tquat<T, Q> const rr(r.w * x.real.w, r.x * x.real.x, r.y * x.real.y, r.z * x.real.z); r *= static_cast<T>(2); - + T const xy = r.x * x.real.y; T const xz = r.x * x.real.z; T const yz = r.y * x.real.z; T const wx = r.w * x.real.x; T const wy = r.w * x.real.y; T const wz = r.w * x.real.z; - - tvec4<T, P> const a( + + vec<4, T, Q> const a( rr.w + rr.x - rr.y - rr.z, xy - wz, xz + wy, -(x.dual.w * r.x - x.dual.x * r.w + x.dual.y * r.z - x.dual.z * r.y)); - - tvec4<T, P> const b( + + vec<4, T, Q> const b( xy + wz, rr.w + rr.y - rr.x - rr.z, yz - wx, -(x.dual.w * r.y - x.dual.x * r.z - x.dual.y * r.w + x.dual.z * r.x)); - - tvec4<T, P> const c( + + vec<4, T, Q> const c( xz - wy, yz + wx, rr.w + rr.z - rr.x - rr.y, -(x.dual.w * r.z + x.dual.x * r.y - x.dual.y * r.x - x.dual.z * r.w)); - - return tmat3x4<T, P>(a, b, c); + + return mat<3, 4, T, Q>(a, b, c); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> dualquat_cast(tmat2x4<T, P> const & x) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> dualquat_cast(mat<2, 4, T, Q> const& x) { - return tdualquat<T, P>( - tquat<T, P>( x[0].w, x[0].x, x[0].y, x[0].z ), - tquat<T, P>( x[1].w, x[1].x, x[1].y, x[1].z )); + return tdualquat<T, Q>( + tquat<T, Q>( x[0].w, x[0].x, x[0].y, x[0].z ), + tquat<T, Q>( x[1].w, x[1].x, x[1].y, x[1].z )); } - template <typename T, precision P> - GLM_FUNC_QUALIFIER tdualquat<T, P> dualquat_cast(tmat3x4<T, P> const & x) + template<typename T, qualifier Q> + GLM_FUNC_QUALIFIER tdualquat<T, Q> dualquat_cast(mat<3, 4, T, Q> const& x) { - tquat<T, P> real(uninitialize); - + tquat<T, Q> real; + T const trace = x[0].x + x[1].y + x[2].z; if(trace > static_cast<T>(0)) { @@ -340,12 +344,12 @@ namespace glm real.z = static_cast<T>(0.5) * r; real.w = (x[1].x - x[0].y) * invr; } - - tquat<T, P> dual(uninitialize); + + tquat<T, Q> dual; dual.x = static_cast<T>(0.5) * ( x[0].w * real.w + x[1].w * real.z - x[2].w * real.y); dual.y = static_cast<T>(0.5) * (-x[0].w * real.z + x[1].w * real.w + x[2].w * real.x); dual.z = static_cast<T>(0.5) * ( x[0].w * real.y - x[1].w * real.x + x[2].w * real.w); dual.w = -static_cast<T>(0.5) * ( x[0].w * real.x + x[1].w * real.y + x[2].w * real.z); - return tdualquat<T, P>(real, dual); + return tdualquat<T, Q>(real, dual); } }//namespace glm |