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Fixed literals in dual quaternion implementation

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This commit is contained in:
Christophe Riccio 2013-04-23 16:39:15 +02:00
parent 161c6c474b
commit 3c7989486e
2 changed files with 38 additions and 11 deletions
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27
glm/glm.cpp
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@ -28,6 +28,7 @@
#include <glm/glm.hpp> #include <glm/glm.hpp>
#include <glm/gtc/quaternion.hpp> #include <glm/gtc/quaternion.hpp>
#include <glm/gtx/dual_quaternion.hpp>
namespace glm{ namespace glm{
namespace detail namespace detail
@ -514,6 +515,32 @@ template struct tmat4x4<float16, highp>;
template struct tmat4x4<float32, highp>; template struct tmat4x4<float32, highp>;
template struct tmat4x4<float64, highp>; template struct tmat4x4<float64, highp>;
// tquat type explicit instantiation
template struct tquat<float16, lowp>;
template struct tquat<float32, lowp>;
template struct tquat<float64, lowp>;
template struct tquat<float16, mediump>;
template struct tquat<float32, mediump>;
template struct tquat<float64, mediump>;
template struct tquat<float16, highp>;
template struct tquat<float32, highp>;
template struct tquat<float64, highp>;
//tdualquat type explicit instantiation
template struct tdualquat<float16, lowp>;
template struct tdualquat<float32, lowp>;
template struct tdualquat<float64, lowp>;
template struct tdualquat<float16, mediump>;
template struct tdualquat<float32, mediump>;
template struct tdualquat<float64, mediump>;
template struct tdualquat<float16, highp>;
template struct tdualquat<float32, highp>;
template struct tdualquat<float64, highp>;
}//namespace detail }//namespace detail
}//namespace glm }//namespace glm

22
glm/gtx/dual_quaternion.inl
View File

@ -70,10 +70,10 @@ namespace detail
) : ) :
real(q), real(q),
dual( dual(
-0.5f*( p.x*q.x + p.y*q.y + p.z*q.z), T(-0.5) * ( p.x*q.x + p.y*q.y + p.z*q.z),
0.5f*( p.x*q.w + p.y*q.z - p.z*q.y), T(+0.5) * ( p.x*q.w + p.y*q.z - p.z*q.y),
0.5f*(-p.x*q.z + p.y*q.w + p.z*q.x), T(+0.5) * (-p.x*q.z + p.y*q.w + p.z*q.x),
0.5f*( p.x*q.y - p.y*q.x + p.z*q.w)) T(+0.5) * ( p.x*q.y - p.y*q.x + p.z*q.w))
{} {}
////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////
@ -378,20 +378,20 @@ namespace detail
detail::tquat<T, P> real; detail::tquat<T, P> real;
T const trace = x[0].x + x[1].y + x[2].z; T const trace = x[0].x + x[1].y + x[2].z;
if(trace > detail::tdualquat<T, P>::value_type(0)) if(trace > T(0))
{ {
T const r = sqrt(detail::tdualquat<T, P>::value_type(1) + trace); T const r = sqrt(T(1) + trace);
T const invr = detail::tdualquat<T, P>::value_type(0.5) / r; T const invr = T(0.5) / r;
real.w = detail::tdualquat<T, P>::value_type(0.5) * r; real.w = T(0.5) * r;
real.x = (x[2].y - x[1].z) * invr; real.x = (x[2].y - x[1].z) * invr;
real.y = (x[0].z - x[2].x) * invr; real.y = (x[0].z - x[2].x) * invr;
real.z = (x[1].x - x[0].y) * invr; real.z = (x[1].x - x[0].y) * invr;
} }
else if(x[0].x > x[1].y && x[0].x > x[2].z) else if(x[0].x > x[1].y && x[0].x > x[2].z)
{ {
T const r = sqrt(detail::tdualquat<T, P>::value_type(1) + x[0].x - x[1].y - x[2].z); T const r = sqrt(T(1) + x[0].x - x[1].y - x[2].z);
T const invr = detail::tdualquat<T, P>::value_type(0.5) / r; T const invr = T(0.5) / r;
real.x = detail::tdualquat<T, P>::value_type(0.5)*r; real.x = T(0.5)*r;
real.y = (x[1].x + x[0].y) * invr; real.y = (x[1].x + x[0].y) * invr;
real.z = (x[0].z + x[2].x) * invr; real.z = (x[0].z + x[2].x) * invr;
real.w = (x[2].y - x[1].z) * invr; real.w = (x[2].y - x[1].z) * invr;