Merge branch 'master' of https://github.com/g-truc/glm

glm/gtc/quaternion.inl

@@ -148,11 +148,25 @@ namespace detail
 	template<typename T, qualifier Q>
 	GLM_FUNC_QUALIFIER tquat<T, Q>::tquat(vec<3, T, Q> const& u, vec<3, T, Q> const& v)
 	{
-		vec<3, T, Q> const LocalW(cross(u, v));
+		T norm_u_norm_v = sqrt(dot(u, u) * dot(v, v));
-		T Dot = detail::compute_dot<vec<3, T, Q>, T, detail::is_aligned<Q>::value>::call(u, v);
+		T real_part = norm_u_norm_v + dot(u, v);
-		tquat<T, Q> q(T(1) + Dot, LocalW.x, LocalW.y, LocalW.z);
+		vec<3, T, Q> t;
 
-		*this = normalize(q);
+		if(real_part < static_cast<T>(1.e-6f) * norm_u_norm_v)
+		{
+			// If u and v are exactly opposite, rotate 180 degrees
+			// around an arbitrary orthogonal axis. Axis normalisation
+			// can happen later, when we normalise the quaternion.
+			real_part = static_cast<T>(0);
+			t = abs(u.x) > abs(u.z) ? vec<3, T, Q>(-u.y, u.x, static_cast<T>(0)) : vec<3, T, Q>(static_cast<T>(0), -u.z, u.y);
+		}
+		else
+		{
+			// Otherwise, build quaternion the standard way.
+			t = cross(u, v);
+		}
+
+	    *this = normalize(tquat<T, Q>(real_part, t.x, t.y, t.z));
 	}
 
 	template<typename T, qualifier Q>

glm/gtx/extended_min_max.inl

@@ -146,8 +146,8 @@ namespace glm
 		{
 			GLM_STATIC_ASSERT(std::numeric_limits<genType>::is_iec559, "'fmin' only accept floating-point input");
 
-			if (isnan(y))
+			if (isnan(x))
-				return x;
+				return y;
 			if (isnan(y))
 				return x;
 
@@ -176,8 +176,8 @@ namespace glm
 		{
 			GLM_STATIC_ASSERT(std::numeric_limits<genType>::is_iec559, "'fmax' only accept floating-point input");
 
-			if (isnan(y))
+			if (isnan(x))
-				return x;
+				return y;
 			if (isnan(y))
 				return x;
 

glm/gtx/hash.hpp

@@ -44,94 +44,94 @@
 
 namespace std
 {
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::vec<1, T,P> >
+	struct hash<glm::vec<1, T,Q> >
 	{
 		GLM_FUNC_DECL size_t operator()(glm::vec<1, T, Q> const& v) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::vec<2, T,P> >
+	struct hash<glm::vec<2, T,Q> >
 	{
 		GLM_FUNC_DECL size_t operator()(glm::vec<2, T, Q> const& v) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::vec<3, T,P> >
+	struct hash<glm::vec<3, T,Q> >
 	{
 		GLM_FUNC_DECL size_t operator()(glm::vec<3, T, Q> const& v) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::vec<4, T,P> >
+	struct hash<glm::vec<4, T,Q> >
 	{
 		GLM_FUNC_DECL size_t operator()(glm::vec<4, T, Q> const& v) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::tquat<T,P>>
+	struct hash<glm::tquat<T,Q>>
 	{
 		GLM_FUNC_DECL size_t operator()(glm::tquat<T, Q> const& q) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::tdualquat<T,P> >
+	struct hash<glm::tdualquat<T,Q> >
 	{
-		GLM_FUNC_DECL size_t operator()(glm::tdualquat<T,P> const& q) const;
+		GLM_FUNC_DECL size_t operator()(glm::tdualquat<T,Q> const& q) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::mat<2, 2, T,P> >
+	struct hash<glm::mat<2, 2, T,Q> >
 	{
-		GLM_FUNC_DECL size_t operator()(glm::mat<2, 2, T,P> const& m) const;
+		GLM_FUNC_DECL size_t operator()(glm::mat<2, 2, T,Q> const& m) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::mat<2, 3, T,P> >
+	struct hash<glm::mat<2, 3, T,Q> >
 	{
-		GLM_FUNC_DECL size_t operator()(glm::mat<2, 3, T,P> const& m) const;
+		GLM_FUNC_DECL size_t operator()(glm::mat<2, 3, T,Q> const& m) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::mat<2, 4, T,P> >
+	struct hash<glm::mat<2, 4, T,Q> >
 	{
-		GLM_FUNC_DECL size_t operator()(glm::mat<2, 4, T,P> const& m) const;
+		GLM_FUNC_DECL size_t operator()(glm::mat<2, 4, T,Q> const& m) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::mat<3, 2, T,P> >
+	struct hash<glm::mat<3, 2, T,Q> >
 	{
-		GLM_FUNC_DECL size_t operator()(glm::mat<3, 2, T,P> const& m) const;
+		GLM_FUNC_DECL size_t operator()(glm::mat<3, 2, T,Q> const& m) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::mat<3, 3, T,P> >
+	struct hash<glm::mat<3, 3, T,Q> >
 	{
-		GLM_FUNC_DECL size_t operator()(glm::mat<3, 3, T,P> const& m) const;
+		GLM_FUNC_DECL size_t operator()(glm::mat<3, 3, T,Q> const& m) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::mat<3, 4, T,P> >
+	struct hash<glm::mat<3, 4, T,Q> >
 	{
-		GLM_FUNC_DECL size_t operator()(glm::mat<3, 4, T,P> const& m) const;
+		GLM_FUNC_DECL size_t operator()(glm::mat<3, 4, T,Q> const& m) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::mat<4, 2, T,P> >
+	struct hash<glm::mat<4, 2, T,Q> >
 	{
-		GLM_FUNC_DECL size_t operator()(glm::mat<4, 2, T,P> const& m) const;
+		GLM_FUNC_DECL size_t operator()(glm::mat<4, 2, T,Q> const& m) const;
 	};
 	
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::mat<4, 3, T,P> >
+	struct hash<glm::mat<4, 3, T,Q> >
 	{
-		GLM_FUNC_DECL size_t operator()(glm::mat<4, 3, T,P> const& m) const;
+		GLM_FUNC_DECL size_t operator()(glm::mat<4, 3, T,Q> const& m) const;
 	};
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	struct hash<glm::mat<4, 4, T,P> >
+	struct hash<glm::mat<4, 4, T,Q> >
 	{
-		GLM_FUNC_DECL size_t operator()(glm::mat<4, 4, T,P> const& m) const;
+		GLM_FUNC_DECL size_t operator()(glm::mat<4, 4, T,Q> const& m) const;
 	};
 } // namespace std
 

glm/gtx/hash.inl

@@ -22,14 +22,14 @@ namespace detail
 
 namespace std
 {
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::vec<1, T, Q>>::operator()(glm::vec<1, T, Q> const& v) const
 	{
 		hash<T> hasher;
 		return hasher(v.x);
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::vec<2, T, Q>>::operator()(glm::vec<2, T, Q> const& v) const
 	{
 		size_t seed = 0;
@@ -39,7 +39,7 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::vec<3, T, Q>>::operator()(glm::vec<3, T, Q> const& v) const
 	{
 		size_t seed = 0;
@@ -50,7 +50,7 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::vec<4, T, Q>>::operator()(glm::vec<4, T, Q> const& v) const
 	{
 		size_t seed = 0;
@@ -62,8 +62,8 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	GLM_FUNC_QUALIFIER size_t hash<glm::tquat<T, Q>>::operator()(glm::tquat<T,P> const& q) const
+	GLM_FUNC_QUALIFIER size_t hash<glm::tquat<T, Q>>::operator()(glm::tquat<T,Q> const& q) const
 	{
 		size_t seed = 0;
 		hash<T> hasher;
@@ -74,7 +74,7 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::tdualquat<T, Q>>::operator()(glm::tdualquat<T, Q> const& q) const
 	{
 		size_t seed = 0;
@@ -84,7 +84,7 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::mat<2, 2, T, Q>>::operator()(glm::mat<2, 2, T, Q> const& m) const
 	{
 		size_t seed = 0;
@@ -94,7 +94,7 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::mat<2, 3, T, Q>>::operator()(glm::mat<2, 3, T, Q> const& m) const
 	{
 		size_t seed = 0;
@@ -104,7 +104,7 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::mat<2, 4, T, Q>>::operator()(glm::mat<2, 4, T, Q> const& m) const
 	{
 		size_t seed = 0;
@@ -114,7 +114,7 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::mat<3, 2, T, Q>>::operator()(glm::mat<3, 2, T, Q> const& m) const
 	{
 		size_t seed = 0;
@@ -125,7 +125,7 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::mat<3, 3, T, Q>>::operator()(glm::mat<3, 3, T, Q> const& m) const
 	{
 		size_t seed = 0;
@@ -136,7 +136,7 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
 	GLM_FUNC_QUALIFIER size_t hash<glm::mat<3, 4, T, Q>>::operator()(glm::mat<3, 4, T, Q> const& m) const
 	{
 		size_t seed = 0;
@@ -147,8 +147,8 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	GLM_FUNC_QUALIFIER size_t hash<glm::mat<4, 2, T,P>>::operator()(glm::mat<4, 2, T,P> const& m) const
+	GLM_FUNC_QUALIFIER size_t hash<glm::mat<4, 2, T,Q>>::operator()(glm::mat<4, 2, T,Q> const& m) const
 	{
 		size_t seed = 0;
 		hash<glm::vec<2, T, Q>> hasher;
@@ -159,8 +159,8 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	GLM_FUNC_QUALIFIER size_t hash<glm::mat<4, 3, T,P>>::operator()(glm::mat<4, 3, T,P> const& m) const
+	GLM_FUNC_QUALIFIER size_t hash<glm::mat<4, 3, T,Q>>::operator()(glm::mat<4, 3, T,Q> const& m) const
 	{
 		size_t seed = 0;
 		hash<glm::vec<3, T, Q>> hasher;
@@ -171,8 +171,8 @@ namespace std
 		return seed;
 	}
 
-	template<typename T, glm::qualifier P>
+	template<typename T, glm::qualifier Q>
-	GLM_FUNC_QUALIFIER size_t hash<glm::mat<4, 4, T,P>>::operator()(glm::mat<4, 4, T, Q> const& m) const
+	GLM_FUNC_QUALIFIER size_t hash<glm::mat<4, 4, T,Q>>::operator()(glm::mat<4, 4, T, Q> const& m) const
 	{
 		size_t seed = 0;
 		hash<glm::vec<4, T, Q>> hasher;

readme.md

@@ -101,6 +101,7 @@ glm::mat4 camera(float Translate, glm::vec2 const& Rotate)
 - Fixed documentation warnings
 - Fixed GLM_HAS_OPENMP when OpenMP is not enabled
 - Fixed Better follow GLSL min and max specification #372
+- Fixed quaternion constructor from two vectors special cases #469 
 
 #### Deprecation:
 - Requires Visual Studio 2013, GCC 4.7, Clang 3.4, Cuda 7, ICC 2013 or a C++11 compiler

test/gtc/gtc_quaternion.cpp

@@ -225,16 +225,28 @@ int test_quat_mul()
 
 int test_quat_two_axis_ctr()
 {
-	int Error(0);
+	int Error = 0;
 
-	glm::quat q1(glm::vec3(1, 0, 0), glm::vec3(0, 1, 0));
+	glm::quat const q1(glm::vec3(1, 0, 0), glm::vec3(0, 1, 0));
-	glm::vec3 v1 = q1 * glm::vec3(1, 0, 0);
+	glm::vec3 const v1 = q1 * glm::vec3(1, 0, 0);
 	Error += glm::all(glm::epsilonEqual(v1, glm::vec3(0, 1, 0), 0.0001f)) ? 0 : 1;
 
-	glm::quat q2 = q1 * q1;
+	glm::quat const q2 = q1 * q1;
-	glm::vec3 v2 = q2 * glm::vec3(1, 0, 0);
+	glm::vec3 const v2 = q2 * glm::vec3(1, 0, 0);
 	Error += glm::all(glm::epsilonEqual(v2, glm::vec3(-1, 0, 0), 0.0001f)) ? 0 : 1;
 
+	glm::quat const q3(glm::vec3(1, 0, 0), glm::vec3(-1, 0, 0));
+	glm::vec3 const v3 = q3 * glm::vec3(1, 0, 0);
+	Error += glm::all(glm::epsilonEqual(v3, glm::vec3(-1, 0, 0), 0.0001f)) ? 0 : 1;
+
+	glm::quat const q4(glm::vec3(0, 1, 0), glm::vec3(0, -1, 0));
+	glm::vec3 const v4 = q4 * glm::vec3(0, 1, 0);
+	Error += glm::all(glm::epsilonEqual(v4, glm::vec3(0, -1, 0), 0.0001f)) ? 0 : 1;
+
+	glm::quat const q5(glm::vec3(0, 0, 1), glm::vec3(0, 0, -1));
+	glm::vec3 const v5 = q5 * glm::vec3(0, 0, 1);
+	Error += glm::all(glm::epsilonEqual(v5, glm::vec3(0, 0, -1), 0.0001f)) ? 0 : 1;
+
 	return Error;
 }
 

test/gtx/gtx_extended_min_max.cpp

@@ -1,4 +1,5 @@
 #define GLM_ENABLE_EXPERIMENTAL
+
 #include <glm/gtx/extended_min_max.hpp>
 #include <glm/gtc/vec1.hpp>
 #include <glm/gtc/epsilon.hpp>
@@ -18,6 +19,9 @@ namespace fmin_
 		glm::vec1 A0 = glm::fmin(glm::vec1(1), glm::vec1(Zero_f / 0.0f));
 		Error += glm::epsilonEqual(A0.x, 1.0f, glm::epsilon<float>()) ? 0 : 1;
 
+		glm::vec1 A1 = glm::fmin(glm::vec1(Zero_f / 0.0f), glm::vec1(1));
+		Error += glm::epsilonEqual(A1.x, 1.0f, glm::epsilon<float>()) ? 0 : 1;
+
 		glm::vec2 B0 = glm::fmin(glm::vec2(1), glm::vec2(1));
 		glm::vec2 B1 = glm::fmin(glm::vec2(1), 1.0f);
 		bool B2 = glm::all(glm::equal(B0, B1));
@@ -47,6 +51,9 @@ namespace fmax_
 		glm::vec1 A0 = glm::fmax(glm::vec1(1), glm::vec1(Zero_f / 0.0f));
 		Error += glm::epsilonEqual(A0.x, 1.0f, glm::epsilon<float>()) ? 0 : 1;
 
+		glm::vec1 A1 = glm::fmax(glm::vec1(Zero_f / 0.0f), glm::vec1(1));
+		Error += glm::epsilonEqual(A0.x, 1.0f, glm::epsilon<float>()) ? 0 : 1;
+
 		glm::vec2 B0 = glm::fmax(glm::vec2(1), glm::vec2(1));
 		glm::vec2 B1 = glm::fmax(glm::vec2(1), 1.0f);
 		bool B2 = glm::all(glm::equal(B0, B1));