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author | LaG1924 <12997935+LaG1924@users.noreply.github.com> | 2021-06-22 02:38:30 +0200 |
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committer | GitHub <noreply@github.com> | 2021-06-22 02:38:30 +0200 |
commit | ca7bcf9f7dc5eb47ccbec1049b323f0604dabadd (patch) | |
tree | 33d7d2673ba0da8a92323b07d061f655c719ae40 /external/include/glm/gtx/quaternion.inl | |
parent | Merge pull request #44 from LaG1924/fix/protocol_support (diff) | |
parent | Updated build instructions and added MacOS #49 (diff) | |
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Diffstat (limited to 'external/include/glm/gtx/quaternion.inl')
-rw-r--r-- | external/include/glm/gtx/quaternion.inl | 254 |
1 files changed, 0 insertions, 254 deletions
diff --git a/external/include/glm/gtx/quaternion.inl b/external/include/glm/gtx/quaternion.inl deleted file mode 100644 index fde7a8f..0000000 --- a/external/include/glm/gtx/quaternion.inl +++ /dev/null @@ -1,254 +0,0 @@ -/// @ref gtx_quaternion -/// @file glm/gtx/quaternion.inl - -#include <limits> -#include "../gtc/constants.hpp" - -namespace glm -{ - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> quat_identity() - { - return tquat<T, Q>(static_cast<T>(1), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<3, T, Q> cross(vec<3, T, Q> const& v, tquat<T, Q> const& q) - { - return inverse(q) * v; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<3, T, Q> cross(tquat<T, Q> const& q, vec<3, T, Q> const& v) - { - return q * v; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> squad - ( - tquat<T, Q> const& q1, - tquat<T, Q> const& q2, - tquat<T, Q> const& s1, - tquat<T, Q> 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, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> intermediate - ( - tquat<T, Q> const& prev, - tquat<T, Q> const& curr, - tquat<T, Q> const& next - ) - { - tquat<T, Q> invQuat = inverse(curr); - return exp((log(next + invQuat) + log(prev + invQuat)) / static_cast<T>(-4)) * curr; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> exp(tquat<T, Q> const& q) - { - vec<3, T, Q> u(q.x, q.y, q.z); - T const Angle = glm::length(u); - if (Angle < epsilon<T>()) - return tquat<T, Q>(); - - vec<3, T, Q> const v(u / Angle); - return tquat<T, Q>(cos(Angle), sin(Angle) * v); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> log(tquat<T, Q> const& q) - { - vec<3, T, Q> 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, Q>(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, Q>(log(-q.w), pi<T>(), static_cast<T>(0), static_cast<T>(0)); - else - return tquat<T, Q>(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, Q>(static_cast<T>(0.5) * log(QuatLen2), t * q.x, t * q.y, t * q.z); - } - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> pow(tquat<T, Q> 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, Q>(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, Q>(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, Q>(cos(NewAngle) * magnitude * Mag, x.x * Div * Mag, x.y * Div * Mag, x.z * Div * Mag); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<3, T, Q> rotate(tquat<T, Q> const& q, vec<3, T, Q> const& v) - { - return q * v; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER vec<4, T, Q> rotate(tquat<T, Q> const& q, vec<4, T, Q> const& v) - { - return q * v; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER T extractRealComponent(tquat<T, Q> 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, qualifier Q> - GLM_FUNC_QUALIFIER T length2(tquat<T, Q> const& q) - { - return q.x * q.x + q.y * q.y + q.z * q.z + q.w * q.w; - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> shortMix(tquat<T, Q> const& x, tquat<T, Q> 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, Q> 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, Q>( - 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, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> fastMix(tquat<T, Q> const& x, tquat<T, Q> const& y, T const& a) - { - return glm::normalize(x * (static_cast<T>(1) - a) + (y * a)); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> rotation(vec<3, T, Q> const& orig, vec<3, T, Q> const& dest) - { - T cosTheta = dot(orig, dest); - vec<3, T, Q> rotationAxis; - - if(cosTheta >= static_cast<T>(1) - epsilon<T>()) { - // orig and dest point in the same direction - return quat_identity<T,Q>(); - } - - 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(vec<3, T, Q>(0, 0, 1), orig); - if(length2(rotationAxis) < epsilon<T>()) // bad luck, they were parallel, try again! - rotationAxis = cross(vec<3, T, Q>(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, Q>( - s * static_cast<T>(0.5f), - rotationAxis.x * invs, - rotationAxis.y * invs, - rotationAxis.z * invs); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> quatLookAt(vec<3, T, Q> const& direction, vec<3, T, Q> const& up) - { -# if GLM_COORDINATE_SYSTEM == GLM_LEFT_HANDED - return quatLookAtLH(direction, up); -# else - return quatLookAtRH(direction, up); -# endif - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> quatLookAtRH(vec<3, T, Q> const& direction, vec<3, T, Q> const& up) - { - mat<3, 3, T, Q> Result; - - Result[2] = -direction; - Result[0] = normalize(cross(up, Result[2])); - Result[1] = cross(Result[2], Result[0]); - - return quat_cast(Result); - } - - template<typename T, qualifier Q> - GLM_FUNC_QUALIFIER tquat<T, Q> quatLookAtLH(vec<3, T, Q> const& direction, vec<3, T, Q> const& up) - { - mat<3, 3, T, Q> Result; - - Result[2] = direction; - Result[0] = normalize(cross(up, Result[2])); - Result[1] = cross(Result[2], Result[0]); - - return quat_cast(Result); - } - -}//namespace glm |