mirror of
https://github.com/JoeyDeVries/LearnOpenGL.git
synced 2026-01-07 01:03:22 +08:00
Update GLM to latest version (0.9.9.3). This includes GLM's change of matrices no longer default initializing to the identity matrix. This commit thus also includes the update of all of LearnOpenGL's code to reflect this: all matrices are now constructor-initialized to the identity matrix where relevant.
This commit is contained in:
Joey de Vries
@@ -1,609 +1,46 @@
|
||||
///////////////////////////////////////////////////////////////////////////////////
|
||||
/// OpenGL Mathematics (glm.g-truc.net)
|
||||
///
|
||||
/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
|
||||
/// Permission is hereby granted, free of charge, to any person obtaining a copy
|
||||
/// of this software and associated documentation files (the "Software"), to deal
|
||||
/// in the Software without restriction, including without limitation the rights
|
||||
/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
|
||||
/// copies of the Software, and to permit persons to whom the Software is
|
||||
/// furnished to do so, subject to the following conditions:
|
||||
///
|
||||
/// The above copyright notice and this permission notice shall be included in
|
||||
/// all copies or substantial portions of the Software.
|
||||
///
|
||||
/// Restrictions:
|
||||
/// By making use of the Software for military purposes, you choose to make
|
||||
/// a Bunny unhappy.
|
||||
///
|
||||
/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||
/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
|
||||
/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
|
||||
/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
|
||||
/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
|
||||
/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
|
||||
/// THE SOFTWARE.
|
||||
///
|
||||
/// @ref gtc_quaternion
|
||||
/// @file glm/gtc/quaternion.inl
|
||||
/// @date 2009-05-21 / 2011-06-15
|
||||
/// @author Christophe Riccio
|
||||
///////////////////////////////////////////////////////////////////////////////////
|
||||
|
||||
#include "../trigonometric.hpp"
|
||||
#include "../geometric.hpp"
|
||||
#include "../exponential.hpp"
|
||||
#include "epsilon.hpp"
|
||||
#include <limits>
|
||||
|
||||
namespace glm{
|
||||
namespace detail
|
||||
namespace glm
|
||||
{
|
||||
template <typename T, precision P>
|
||||
struct compute_dot<tquat, T, P>
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER vec<3, T, Q> eulerAngles(qua<T, Q> const& x)
|
||||
{
|
||||
static GLM_FUNC_QUALIFIER T call(tquat<T, P> const & x, tquat<T, P> const & y)
|
||||
{
|
||||
tvec4<T, P> tmp(x.x * y.x, x.y * y.y, x.z * y.z, x.w * y.w);
|
||||
return (tmp.x + tmp.y) + (tmp.z + tmp.w);
|
||||
}
|
||||
};
|
||||
}//namespace detail
|
||||
|
||||
// -- Component accesses --
|
||||
|
||||
# ifdef GLM_FORCE_SIZE_FUNC
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tquat<T, P>::size_type tquat<T, P>::size() const
|
||||
{
|
||||
return 4;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER T & tquat<T, P>::operator[](typename tquat<T, P>::size_type i)
|
||||
{
|
||||
assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this));
|
||||
return (&x)[i];
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER T const & tquat<T, P>::operator[](typename tquat<T, P>::size_type i) const
|
||||
{
|
||||
assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this));
|
||||
return (&x)[i];
|
||||
}
|
||||
# else
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tquat<T, P>::length_type tquat<T, P>::length() const
|
||||
{
|
||||
return 4;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER T & tquat<T, P>::operator[](typename tquat<T, P>::length_type i)
|
||||
{
|
||||
assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this));
|
||||
return (&x)[i];
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER T const & tquat<T, P>::operator[](typename tquat<T, P>::length_type i) const
|
||||
{
|
||||
assert(i >= 0 && static_cast<detail::component_count_t>(i) < detail::component_count(*this));
|
||||
return (&x)[i];
|
||||
}
|
||||
# endif//GLM_FORCE_SIZE_FUNC
|
||||
|
||||
// -- Implicit basic constructors --
|
||||
|
||||
# if !GLM_HAS_DEFAULTED_FUNCTIONS || !defined(GLM_FORCE_NO_CTOR_INIT)
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat()
|
||||
# ifndef GLM_FORCE_NO_CTOR_INIT
|
||||
: x(0), y(0), z(0), w(1)
|
||||
# endif
|
||||
{}
|
||||
# endif
|
||||
|
||||
# if !GLM_HAS_DEFAULTED_FUNCTIONS
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tquat<T, P> const & q)
|
||||
: x(q.x), y(q.y), z(q.z), w(q.w)
|
||||
{}
|
||||
# endif//!GLM_HAS_DEFAULTED_FUNCTIONS
|
||||
|
||||
template <typename T, precision P>
|
||||
template <precision Q>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tquat<T, Q> const & q)
|
||||
: x(q.x), y(q.y), z(q.z), w(q.w)
|
||||
{}
|
||||
|
||||
// -- Explicit basic constructors --
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat(ctor)
|
||||
{}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat(T const & s, tvec3<T, P> const & v)
|
||||
: x(v.x), y(v.y), z(v.z), w(s)
|
||||
{}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat(T const & w, T const & x, T const & y, T const & z)
|
||||
: x(x), y(y), z(z), w(w)
|
||||
{}
|
||||
|
||||
// -- Conversion constructors --
|
||||
|
||||
template <typename T, precision P>
|
||||
template <typename U, precision Q>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tquat<U, Q> const & q)
|
||||
: x(static_cast<T>(q.x))
|
||||
, y(static_cast<T>(q.y))
|
||||
, z(static_cast<T>(q.z))
|
||||
, w(static_cast<T>(q.w))
|
||||
{}
|
||||
|
||||
//template <typename valType>
|
||||
//GLM_FUNC_QUALIFIER tquat<valType>::tquat
|
||||
//(
|
||||
// valType const & pitch,
|
||||
// valType const & yaw,
|
||||
// valType const & roll
|
||||
//)
|
||||
//{
|
||||
// tvec3<valType> eulerAngle(pitch * valType(0.5), yaw * valType(0.5), roll * valType(0.5));
|
||||
// tvec3<valType> c = glm::cos(eulerAngle * valType(0.5));
|
||||
// tvec3<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, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tvec3<T, P> const & u, tvec3<T, P> const & v)
|
||||
{
|
||||
tvec3<T, P> const LocalW(cross(u, v));
|
||||
T Dot = detail::compute_dot<tvec3, T, P>::call(u, v);
|
||||
tquat<T, P> q(T(1) + Dot, LocalW.x, LocalW.y, LocalW.z);
|
||||
|
||||
*this = normalize(q);
|
||||
return vec<3, T, Q>(pitch(x), yaw(x), roll(x));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tvec3<T, P> const & eulerAngle)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER T roll(qua<T, Q> const& q)
|
||||
{
|
||||
tvec3<T, P> c = glm::cos(eulerAngle * T(0.5));
|
||||
tvec3<T, P> 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;
|
||||
return static_cast<T>(atan(static_cast<T>(2) * (q.x * q.y + q.w * q.z), q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tmat3x3<T, P> const & m)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER T pitch(qua<T, Q> const& q)
|
||||
{
|
||||
*this = quat_cast(m);
|
||||
//return T(atan(T(2) * (q.y * q.z + q.w * q.x), q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z));
|
||||
T const y = static_cast<T>(2) * (q.y * q.z + q.w * q.x);
|
||||
T const x = q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z;
|
||||
|
||||
if(all(equal(vec<2, T, Q>(x, y), vec<2, T, Q>(0), epsilon<T>()))) //avoid atan2(0,0) - handle singularity - Matiis
|
||||
return static_cast<T>(static_cast<T>(2) * atan(q.x, q.w));
|
||||
|
||||
return static_cast<T>(atan(y, x));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::tquat(tmat4x4<T, P> const & m)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER T yaw(qua<T, Q> const& q)
|
||||
{
|
||||
*this = quat_cast(m);
|
||||
return asin(clamp(static_cast<T>(-2) * (q.x * q.z - q.w * q.y), static_cast<T>(-1), static_cast<T>(1)));
|
||||
}
|
||||
|
||||
# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::operator tmat3x3<T, P>()
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER mat<3, 3, T, Q> mat3_cast(qua<T, Q> const& q)
|
||||
{
|
||||
return mat3_cast(*this);
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P>::operator tmat4x4<T, P>()
|
||||
{
|
||||
return mat4_cast(*this);
|
||||
}
|
||||
# endif//GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> conjugate(tquat<T, P> const & q)
|
||||
{
|
||||
return tquat<T, P>(q.w, -q.x, -q.y, -q.z);
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> inverse(tquat<T, P> const & q)
|
||||
{
|
||||
return conjugate(q) / dot(q, q);
|
||||
}
|
||||
|
||||
// -- Unary arithmetic operators --
|
||||
|
||||
# if !GLM_HAS_DEFAULTED_FUNCTIONS
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator=(tquat<T, P> const & q)
|
||||
{
|
||||
this->w = q.w;
|
||||
this->x = q.x;
|
||||
this->y = q.y;
|
||||
this->z = q.z;
|
||||
return *this;
|
||||
}
|
||||
# endif//!GLM_HAS_DEFAULTED_FUNCTIONS
|
||||
|
||||
template <typename T, precision P>
|
||||
template <typename U>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator=(tquat<U, P> 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, precision P>
|
||||
template <typename U>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator+=(tquat<U, P> 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, precision P>
|
||||
template <typename U>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator*=(tquat<U, P> const & r)
|
||||
{
|
||||
tquat<T, P> const p(*this);
|
||||
tquat<T, P> 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, precision P>
|
||||
template <typename U>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator*=(U s)
|
||||
{
|
||||
this->w *= static_cast<U>(s);
|
||||
this->x *= static_cast<U>(s);
|
||||
this->y *= static_cast<U>(s);
|
||||
this->z *= static_cast<U>(s);
|
||||
return *this;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
template <typename U>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> & tquat<T, P>::operator/=(U s)
|
||||
{
|
||||
this->w /= static_cast<U>(s);
|
||||
this->x /= static_cast<U>(s);
|
||||
this->y /= static_cast<U>(s);
|
||||
this->z /= static_cast<U>(s);
|
||||
return *this;
|
||||
}
|
||||
|
||||
// -- Unary bit operators --
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> operator+(tquat<T, P> const & q)
|
||||
{
|
||||
return q;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> operator-(tquat<T, P> const & q)
|
||||
{
|
||||
return tquat<T, P>(-q.w, -q.x, -q.y, -q.z);
|
||||
}
|
||||
|
||||
// -- Binary operators --
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p)
|
||||
{
|
||||
return tquat<T, P>(q) += p;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p)
|
||||
{
|
||||
return tquat<T, P>(q) *= p;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v)
|
||||
{
|
||||
tvec3<T, P> const QuatVector(q.x, q.y, q.z);
|
||||
tvec3<T, P> const uv(glm::cross(QuatVector, v));
|
||||
tvec3<T, P> const uuv(glm::cross(QuatVector, uv));
|
||||
|
||||
return v + ((uv * q.w) + uuv) * static_cast<T>(2);
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q)
|
||||
{
|
||||
return glm::inverse(q) * v;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v)
|
||||
{
|
||||
return tvec4<T, P>(q * tvec3<T, P>(v), v.w);
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q)
|
||||
{
|
||||
return glm::inverse(q) * v;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> operator*(tquat<T, P> const & q, T const & s)
|
||||
{
|
||||
return tquat<T, P>(
|
||||
q.w * s, q.x * s, q.y * s, q.z * s);
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> operator*(T const & s, tquat<T, P> const & q)
|
||||
{
|
||||
return q * s;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> operator/(tquat<T, P> const & q, T const & s)
|
||||
{
|
||||
return tquat<T, P>(
|
||||
q.w / s, q.x / s, q.y / s, q.z / s);
|
||||
}
|
||||
|
||||
// -- Boolean operators --
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER bool operator==(tquat<T, P> const & q1, tquat<T, P> const & q2)
|
||||
{
|
||||
return (q1.x == q2.x) && (q1.y == q2.y) && (q1.z == q2.z) && (q1.w == q2.w);
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER bool operator!=(tquat<T, P> const & q1, tquat<T, P> const & q2)
|
||||
{
|
||||
return (q1.x != q2.x) || (q1.y != q2.y) || (q1.z != q2.z) || (q1.w != q2.w);
|
||||
}
|
||||
|
||||
// -- Operations --
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER T length(tquat<T, P> const & q)
|
||||
{
|
||||
return glm::sqrt(dot(q, q));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> normalize(tquat<T, P> const & q)
|
||||
{
|
||||
T len = length(q);
|
||||
if(len <= T(0)) // Problem
|
||||
return tquat<T, P>(1, 0, 0, 0);
|
||||
T oneOverLen = T(1) / len;
|
||||
return tquat<T, P>(q.w * oneOverLen, q.x * oneOverLen, q.y * oneOverLen, q.z * oneOverLen);
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> cross(tquat<T, P> const & q1, tquat<T, P> const & q2)
|
||||
{
|
||||
return tquat<T, P>(
|
||||
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);
|
||||
}
|
||||
/*
|
||||
// (x * sin(1 - a) * angle / sin(angle)) + (y * sin(a) * angle / sin(angle))
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T const & a)
|
||||
{
|
||||
if(a <= T(0)) return x;
|
||||
if(a >= T(1)) return y;
|
||||
|
||||
float fCos = dot(x, y);
|
||||
tquat<T, P> y2(y); //BUG!!! tquat<T, P> y2;
|
||||
if(fCos < T(0))
|
||||
{
|
||||
y2 = -y;
|
||||
fCos = -fCos;
|
||||
}
|
||||
|
||||
//if(fCos > 1.0f) // problem
|
||||
float k0, k1;
|
||||
if(fCos > T(0.9999))
|
||||
{
|
||||
k0 = T(1) - a;
|
||||
k1 = 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((T(1) - a) * fAngle) * fOneOverSin;
|
||||
k1 = sin((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> mix2
|
||||
(
|
||||
tquat<T, P> const & x,
|
||||
tquat<T, P> const & y,
|
||||
T const & a
|
||||
)
|
||||
{
|
||||
bool flip = false;
|
||||
if(a <= static_cast<T>(0)) return x;
|
||||
if(a >= static_cast<T>(1)) return y;
|
||||
|
||||
T cos_t = dot(x, y);
|
||||
if(cos_t < T(0))
|
||||
{
|
||||
cos_t = -cos_t;
|
||||
flip = true;
|
||||
}
|
||||
|
||||
T alpha(0), beta(0);
|
||||
|
||||
if(T(1) - cos_t < 1e-7)
|
||||
beta = static_cast<T>(1) - alpha;
|
||||
else
|
||||
{
|
||||
T theta = acos(cos_t);
|
||||
T sin_t = sin(theta);
|
||||
beta = sin(theta * (T(1) - alpha)) / sin_t;
|
||||
alpha = sin(alpha * theta) / sin_t;
|
||||
}
|
||||
|
||||
if(flip)
|
||||
alpha = -alpha;
|
||||
|
||||
return normalize(beta * x + alpha * y);
|
||||
}
|
||||
*/
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T a)
|
||||
{
|
||||
T cosTheta = dot(x, y);
|
||||
|
||||
// Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator
|
||||
if(cosTheta > T(1) - epsilon<T>())
|
||||
{
|
||||
// Linear interpolation
|
||||
return tquat<T, P>(
|
||||
mix(x.w, y.w, a),
|
||||
mix(x.x, y.x, a),
|
||||
mix(x.y, y.y, a),
|
||||
mix(x.z, y.z, a));
|
||||
}
|
||||
else
|
||||
{
|
||||
// Essential Mathematics, page 467
|
||||
T angle = acos(cosTheta);
|
||||
return (sin((T(1) - a) * angle) * x + sin(a * angle) * y) / sin(angle);
|
||||
}
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T a)
|
||||
{
|
||||
// Lerp is only defined in [0, 1]
|
||||
assert(a >= static_cast<T>(0));
|
||||
assert(a <= static_cast<T>(1));
|
||||
|
||||
return x * (T(1) - a) + (y * a);
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T a)
|
||||
{
|
||||
tquat<T, P> z = y;
|
||||
|
||||
T cosTheta = dot(x, y);
|
||||
|
||||
// If cosTheta < 0, the interpolation will take the long way around the sphere.
|
||||
// To fix this, one quat must be negated.
|
||||
if (cosTheta < T(0))
|
||||
{
|
||||
z = -y;
|
||||
cosTheta = -cosTheta;
|
||||
}
|
||||
|
||||
// Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator
|
||||
if(cosTheta > T(1) - epsilon<T>())
|
||||
{
|
||||
// Linear interpolation
|
||||
return tquat<T, P>(
|
||||
mix(x.w, z.w, a),
|
||||
mix(x.x, z.x, a),
|
||||
mix(x.y, z.y, a),
|
||||
mix(x.z, z.z, a));
|
||||
}
|
||||
else
|
||||
{
|
||||
// Essential Mathematics, page 467
|
||||
T angle = acos(cosTheta);
|
||||
return (sin((T(1) - a) * angle) * x + sin(a * angle) * z) / sin(angle);
|
||||
}
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & v)
|
||||
{
|
||||
tvec3<T, P> Tmp = v;
|
||||
|
||||
// Axis of rotation must be normalised
|
||||
T len = glm::length(Tmp);
|
||||
if(abs(len - T(1)) > T(0.001))
|
||||
{
|
||||
T oneOverLen = static_cast<T>(1) / len;
|
||||
Tmp.x *= oneOverLen;
|
||||
Tmp.y *= oneOverLen;
|
||||
Tmp.z *= oneOverLen;
|
||||
}
|
||||
|
||||
T const AngleRad(angle);
|
||||
T const Sin = sin(AngleRad * T(0.5));
|
||||
|
||||
return q * tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
|
||||
//return gtc::quaternion::cross(q, tquat<T, P>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec3<T, P> eulerAngles(tquat<T, P> const & x)
|
||||
{
|
||||
return tvec3<T, P>(pitch(x), yaw(x), roll(x));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER T roll(tquat<T, P> const & q)
|
||||
{
|
||||
return T(atan(T(2) * (q.x * q.y + q.w * q.z), q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER T pitch(tquat<T, P> const & q)
|
||||
{
|
||||
return T(atan(T(2) * (q.y * q.z + q.w * q.x), q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER T yaw(tquat<T, P> const & q)
|
||||
{
|
||||
return asin(clamp(T(-2) * (q.x * q.z - q.w * q.y), T(-1), T(1)));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tmat3x3<T, P> mat3_cast(tquat<T, P> const & q)
|
||||
{
|
||||
tmat3x3<T, P> Result(T(1));
|
||||
mat<3, 3, T, Q> Result(T(1));
|
||||
T qxx(q.x * q.x);
|
||||
T qyy(q.y * q.y);
|
||||
T qzz(q.z * q.z);
|
||||
@@ -614,28 +51,28 @@ namespace detail
|
||||
T qwy(q.w * q.y);
|
||||
T qwz(q.w * q.z);
|
||||
|
||||
Result[0][0] = 1 - 2 * (qyy + qzz);
|
||||
Result[0][1] = 2 * (qxy + qwz);
|
||||
Result[0][2] = 2 * (qxz - qwy);
|
||||
Result[0][0] = T(1) - T(2) * (qyy + qzz);
|
||||
Result[0][1] = T(2) * (qxy + qwz);
|
||||
Result[0][2] = T(2) * (qxz - qwy);
|
||||
|
||||
Result[1][0] = 2 * (qxy - qwz);
|
||||
Result[1][1] = 1 - 2 * (qxx + qzz);
|
||||
Result[1][2] = 2 * (qyz + qwx);
|
||||
Result[1][0] = T(2) * (qxy - qwz);
|
||||
Result[1][1] = T(1) - T(2) * (qxx + qzz);
|
||||
Result[1][2] = T(2) * (qyz + qwx);
|
||||
|
||||
Result[2][0] = 2 * (qxz + qwy);
|
||||
Result[2][1] = 2 * (qyz - qwx);
|
||||
Result[2][2] = 1 - 2 * (qxx + qyy);
|
||||
Result[2][0] = T(2) * (qxz + qwy);
|
||||
Result[2][1] = T(2) * (qyz - qwx);
|
||||
Result[2][2] = T(1) - T(2) * (qxx + qyy);
|
||||
return Result;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tmat4x4<T, P> mat4_cast(tquat<T, P> const & q)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER mat<4, 4, T, Q> mat4_cast(qua<T, Q> const& q)
|
||||
{
|
||||
return tmat4x4<T, P>(mat3_cast(q));
|
||||
return mat<4, 4, T, Q>(mat3_cast(q));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> quat_cast(tmat3x3<T, P> const & m)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER qua<T, Q> quat_cast(mat<3, 3, T, Q> const& m)
|
||||
{
|
||||
T fourXSquaredMinus1 = m[0][0] - m[1][1] - m[2][2];
|
||||
T fourYSquaredMinus1 = m[1][1] - m[0][0] - m[2][2];
|
||||
@@ -660,132 +97,104 @@ namespace detail
|
||||
biggestIndex = 3;
|
||||
}
|
||||
|
||||
T biggestVal = sqrt(fourBiggestSquaredMinus1 + T(1)) * T(0.5);
|
||||
T biggestVal = sqrt(fourBiggestSquaredMinus1 + static_cast<T>(1)) * static_cast<T>(0.5);
|
||||
T mult = static_cast<T>(0.25) / biggestVal;
|
||||
|
||||
tquat<T, P> Result(uninitialize);
|
||||
switch(biggestIndex)
|
||||
{
|
||||
case 0:
|
||||
Result.w = biggestVal;
|
||||
Result.x = (m[1][2] - m[2][1]) * mult;
|
||||
Result.y = (m[2][0] - m[0][2]) * mult;
|
||||
Result.z = (m[0][1] - m[1][0]) * mult;
|
||||
break;
|
||||
return qua<T, Q>(biggestVal, (m[1][2] - m[2][1]) * mult, (m[2][0] - m[0][2]) * mult, (m[0][1] - m[1][0]) * mult);
|
||||
case 1:
|
||||
Result.w = (m[1][2] - m[2][1]) * mult;
|
||||
Result.x = biggestVal;
|
||||
Result.y = (m[0][1] + m[1][0]) * mult;
|
||||
Result.z = (m[2][0] + m[0][2]) * mult;
|
||||
break;
|
||||
return qua<T, Q>((m[1][2] - m[2][1]) * mult, biggestVal, (m[0][1] + m[1][0]) * mult, (m[2][0] + m[0][2]) * mult);
|
||||
case 2:
|
||||
Result.w = (m[2][0] - m[0][2]) * mult;
|
||||
Result.x = (m[0][1] + m[1][0]) * mult;
|
||||
Result.y = biggestVal;
|
||||
Result.z = (m[1][2] + m[2][1]) * mult;
|
||||
break;
|
||||
return qua<T, Q>((m[2][0] - m[0][2]) * mult, (m[0][1] + m[1][0]) * mult, biggestVal, (m[1][2] + m[2][1]) * mult);
|
||||
case 3:
|
||||
Result.w = (m[0][1] - m[1][0]) * mult;
|
||||
Result.x = (m[2][0] + m[0][2]) * mult;
|
||||
Result.y = (m[1][2] + m[2][1]) * mult;
|
||||
Result.z = biggestVal;
|
||||
break;
|
||||
|
||||
default: // Silence a -Wswitch-default warning in GCC. Should never actually get here. Assert is just for sanity.
|
||||
return qua<T, Q>((m[0][1] - m[1][0]) * mult, (m[2][0] + m[0][2]) * mult, (m[1][2] + m[2][1]) * mult, biggestVal);
|
||||
default: // Silence a -Wswitch-default warning in GCC. Should never actually get here. Assert is just for sanity.
|
||||
assert(false);
|
||||
break;
|
||||
return qua<T, Q>(1, 0, 0, 0);
|
||||
}
|
||||
return Result;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> quat_cast(tmat4x4<T, P> const & m4)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER qua<T, Q> quat_cast(mat<4, 4, T, Q> const& m4)
|
||||
{
|
||||
return quat_cast(tmat3x3<T, P>(m4));
|
||||
return quat_cast(mat<3, 3, T, Q>(m4));
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER T angle(tquat<T, P> const & x)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER vec<4, bool, Q> lessThan(qua<T, Q> const& x, qua<T, Q> const& y)
|
||||
{
|
||||
return acos(x.w) * T(2);
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec3<T, P> axis(tquat<T, P> const & x)
|
||||
{
|
||||
T tmp1 = static_cast<T>(1) - x.w * x.w;
|
||||
if(tmp1 <= static_cast<T>(0))
|
||||
return tvec3<T, P>(0, 0, 1);
|
||||
T tmp2 = static_cast<T>(1) / sqrt(tmp1);
|
||||
return tvec3<T, P>(x.x * tmp2, x.y * tmp2, x.z * tmp2);
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & v)
|
||||
{
|
||||
tquat<T, P> Result(uninitialize);
|
||||
|
||||
T const a(angle);
|
||||
T const s = glm::sin(a * static_cast<T>(0.5));
|
||||
|
||||
Result.w = glm::cos(a * static_cast<T>(0.5));
|
||||
Result.x = v.x * s;
|
||||
Result.y = v.y * s;
|
||||
Result.z = v.z * s;
|
||||
return Result;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y)
|
||||
{
|
||||
tvec4<bool, P> Result(uninitialize);
|
||||
for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
|
||||
vec<4, bool, Q> Result;
|
||||
for(length_t i = 0; i < x.length(); ++i)
|
||||
Result[i] = x[i] < y[i];
|
||||
return Result;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER vec<4, bool, Q> lessThanEqual(qua<T, Q> const& x, qua<T, Q> const& y)
|
||||
{
|
||||
tvec4<bool, P> Result(uninitialize);
|
||||
for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
|
||||
vec<4, bool, Q> Result;
|
||||
for(length_t i = 0; i < x.length(); ++i)
|
||||
Result[i] = x[i] <= y[i];
|
||||
return Result;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER vec<4, bool, Q> greaterThan(qua<T, Q> const& x, qua<T, Q> const& y)
|
||||
{
|
||||
tvec4<bool, P> Result(uninitialize);
|
||||
for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
|
||||
vec<4, bool, Q> Result;
|
||||
for(length_t i = 0; i < x.length(); ++i)
|
||||
Result[i] = x[i] > y[i];
|
||||
return Result;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER vec<4, bool, Q> greaterThanEqual(qua<T, Q> const& x, qua<T, Q> const& y)
|
||||
{
|
||||
tvec4<bool, P> Result(uninitialize);
|
||||
for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
|
||||
vec<4, bool, Q> Result;
|
||||
for(length_t i = 0; i < x.length(); ++i)
|
||||
Result[i] = x[i] >= y[i];
|
||||
return Result;
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y)
|
||||
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER qua<T, Q> quatLookAt(vec<3, T, Q> const& direction, vec<3, T, Q> const& up)
|
||||
{
|
||||
tvec4<bool, P> Result(uninitialize);
|
||||
for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
|
||||
Result[i] = x[i] == y[i];
|
||||
return Result;
|
||||
# if GLM_CONFIG_CLIP_CONTROL & GLM_CLIP_CONTROL_LH_BIT
|
||||
return quatLookAtLH(direction, up);
|
||||
# else
|
||||
return quatLookAtRH(direction, up);
|
||||
# endif
|
||||
}
|
||||
|
||||
template <typename T, precision P>
|
||||
GLM_FUNC_QUALIFIER tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y)
|
||||
template<typename T, qualifier Q>
|
||||
GLM_FUNC_QUALIFIER qua<T, Q> quatLookAtRH(vec<3, T, Q> const& direction, vec<3, T, Q> const& up)
|
||||
{
|
||||
tvec4<bool, P> Result(uninitialize);
|
||||
for(detail::component_count_t i = 0; i < detail::component_count(x); ++i)
|
||||
Result[i] = x[i] != y[i];
|
||||
return Result;
|
||||
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 qua<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
|
||||
|
||||
#if GLM_CONFIG_SIMD == GLM_ENABLE
|
||||
# include "quaternion_simd.inl"
|
||||
#endif
|
||||
|
||||
|
||||
Reference in New Issue
Block a user