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Fixed literals in dual quaternion implementation
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parent
161c6c474b
commit
3c7989486e
27
glm/glm.cpp
27
glm/glm.cpp
@ -28,6 +28,7 @@
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#include <glm/glm.hpp>
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#include <glm/glm.hpp>
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#include <glm/gtc/quaternion.hpp>
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#include <glm/gtc/quaternion.hpp>
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#include <glm/gtx/dual_quaternion.hpp>
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namespace glm{
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namespace glm{
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namespace detail
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namespace detail
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@ -514,6 +515,32 @@ template struct tmat4x4<float16, highp>;
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template struct tmat4x4<float32, highp>;
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template struct tmat4x4<float32, highp>;
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template struct tmat4x4<float64, highp>;
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template struct tmat4x4<float64, highp>;
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// tquat type explicit instantiation
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template struct tquat<float16, lowp>;
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template struct tquat<float32, lowp>;
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template struct tquat<float64, lowp>;
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template struct tquat<float16, mediump>;
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template struct tquat<float32, mediump>;
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template struct tquat<float64, mediump>;
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template struct tquat<float16, highp>;
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template struct tquat<float32, highp>;
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template struct tquat<float64, highp>;
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//tdualquat type explicit instantiation
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template struct tdualquat<float16, lowp>;
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template struct tdualquat<float32, lowp>;
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template struct tdualquat<float64, lowp>;
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template struct tdualquat<float16, mediump>;
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template struct tdualquat<float32, mediump>;
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template struct tdualquat<float64, mediump>;
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template struct tdualquat<float16, highp>;
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template struct tdualquat<float32, highp>;
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template struct tdualquat<float64, highp>;
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}//namespace detail
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}//namespace detail
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}//namespace glm
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}//namespace glm
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@ -70,10 +70,10 @@ namespace detail
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) :
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) :
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real(q),
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real(q),
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dual(
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dual(
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-0.5f*( p.x*q.x + p.y*q.y + p.z*q.z),
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T(-0.5) * ( p.x*q.x + p.y*q.y + p.z*q.z),
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0.5f*( p.x*q.w + p.y*q.z - p.z*q.y),
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T(+0.5) * ( p.x*q.w + p.y*q.z - p.z*q.y),
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0.5f*(-p.x*q.z + p.y*q.w + p.z*q.x),
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T(+0.5) * (-p.x*q.z + p.y*q.w + p.z*q.x),
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0.5f*( p.x*q.y - p.y*q.x + p.z*q.w))
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T(+0.5) * ( p.x*q.y - p.y*q.x + p.z*q.w))
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{}
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{}
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//////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////
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@ -378,20 +378,20 @@ namespace detail
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detail::tquat<T, P> real;
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detail::tquat<T, P> real;
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T const trace = x[0].x + x[1].y + x[2].z;
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T const trace = x[0].x + x[1].y + x[2].z;
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if(trace > detail::tdualquat<T, P>::value_type(0))
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if(trace > T(0))
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{
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{
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T const r = sqrt(detail::tdualquat<T, P>::value_type(1) + trace);
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T const r = sqrt(T(1) + trace);
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T const invr = detail::tdualquat<T, P>::value_type(0.5) / r;
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T const invr = T(0.5) / r;
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real.w = detail::tdualquat<T, P>::value_type(0.5) * r;
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real.w = T(0.5) * r;
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real.x = (x[2].y - x[1].z) * invr;
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real.x = (x[2].y - x[1].z) * invr;
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real.y = (x[0].z - x[2].x) * invr;
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real.y = (x[0].z - x[2].x) * invr;
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real.z = (x[1].x - x[0].y) * invr;
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real.z = (x[1].x - x[0].y) * invr;
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}
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}
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else if(x[0].x > x[1].y && x[0].x > x[2].z)
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else if(x[0].x > x[1].y && x[0].x > x[2].z)
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{
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{
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T const r = sqrt(detail::tdualquat<T, P>::value_type(1) + x[0].x - x[1].y - x[2].z);
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T const r = sqrt(T(1) + x[0].x - x[1].y - x[2].z);
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T const invr = detail::tdualquat<T, P>::value_type(0.5) / r;
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T const invr = T(0.5) / r;
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real.x = detail::tdualquat<T, P>::value_type(0.5)*r;
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real.x = T(0.5)*r;
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real.y = (x[1].x + x[0].y) * invr;
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real.y = (x[1].x + x[0].y) * invr;
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real.z = (x[0].z + x[2].x) * invr;
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real.z = (x[0].z + x[2].x) * invr;
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real.w = (x[2].y - x[1].z) * invr;
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real.w = (x[2].y - x[1].z) * invr;
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