mirror of
https://github.com/g-truc/glm.git
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Fixed dual quaternion build on Clang, fixed space characters #49
This commit is contained in:
Christophe Riccio
parent
7739e9c3e3
commit
6a96cd819a
@ -8,10 +8,10 @@
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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/// copies of the Software, and to permit persons to whom the Software is
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/// copies of the Software, and to permit persons to whom the Software is
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/// furnished to do so, subject to the following conditions:
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/// furnished to do so, subject to the following conditions:
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///
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///
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/// The above copyright notice and this permission notice shall be included in
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/// The above copyright notice and this permission notice shall be included in
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/// all copies or substantial portions of the Software.
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/// all copies or substantial portions of the Software.
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///
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///
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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@ -32,9 +32,9 @@
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///
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///
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/// @defgroup gtc_dual_quaternion GLM_GTX_dual_quaternion
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/// @defgroup gtc_dual_quaternion GLM_GTX_dual_quaternion
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/// @ingroup gtc
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/// @ingroup gtc
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///
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///
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/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations.
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/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations.
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///
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///
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/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities.
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/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities.
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///////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////
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@ -54,187 +54,190 @@
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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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{
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{
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template <typename T>
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template <typename T>
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struct tdualquat// : public genType<T, tquat>
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struct tdualquat// : public genType<T, tquat>
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{
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{
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enum ctor{null};
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enum ctor{null};
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typedef T value_type;
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typedef T value_type;
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typedef glm::detail::tquat<T> part_type;
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typedef glm::detail::tquat<T> part_type;
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typedef std::size_t size_type;
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typedef std::size_t size_type;
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public:
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public:
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glm::detail::tquat<T> real, dual;
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glm::detail::tquat<T> real, dual;
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GLM_FUNC_DECL size_type length() const;
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GLM_FUNC_DECL size_type length() const;
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// Constructors
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// Constructors
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tdualquat();
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tdualquat();
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explicit tdualquat(tquat<T> const & real);
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explicit tdualquat(tquat<T> const & real);
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tdualquat(tquat<T> const & real,tquat<T> const & dual);
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tdualquat(tquat<T> const & real,tquat<T> const & dual);
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tdualquat(tquat<T> const & orientation,tvec3<T> const& translation);
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tdualquat(tquat<T> const & orientation,tvec3<T> const& translation);
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//////////////////////////////////////////////////////////////
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//////////////////////////////////////////////////////////////
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// tdualquat conversions
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// tdualquat conversions
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explicit tdualquat(tmat2x4<T> const & holder_mat);
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explicit tdualquat(tmat2x4<T> const & holder_mat);
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explicit tdualquat(tmat3x4<T> const & aug_mat);
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explicit tdualquat(tmat3x4<T> const & aug_mat);
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// Accesses
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// Accesses
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typename part_type & operator[](int i);
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part_type & operator[](int i);
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typename part_type const & operator[](int i) const;
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part_type const & operator[](int i) const;
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// Operators
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// Operators
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tdualquat<T> & operator*=(value_type const & s);
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tdualquat<T> & operator*=(value_type const & s);
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tdualquat<T> & operator/=(value_type const & s);
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tdualquat<T> & operator/=(value_type const & s);
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};
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};
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template <typename T>
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template <typename T>
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detail::tquat<T> operator- (
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detail::tquat<T> operator- (
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detail::tquat<T> const & q);
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detail::tquat<T> const & q);
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template <typename T>
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template <typename T>
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detail::tdualquat<T> operator+ (
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detail::tdualquat<T> operator+ (
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detail::tdualquat<T> const & q,
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detail::tdualquat<T> const & q,
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detail::tdualquat<T> const & p);
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detail::tdualquat<T> const & p);
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template <typename T>
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template <typename T>
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detail::tdualquat<T> operator* (
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detail::tdualquat<T> operator* (
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detail::tdualquat<T> const & q,
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detail::tdualquat<T> const & q,
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detail::tdualquat<T> const & p);
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detail::tdualquat<T> const & p);
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template <typename T>
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template <typename T>
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detail::tvec3<T> operator* (
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detail::tvec3<T> operator* (
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detail::tquat<T> const & q,
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detail::tquat<T> const & q,
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detail::tvec3<T> const & v);
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detail::tvec3<T> const & v);
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template <typename T>
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template <typename T>
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detail::tvec3<T> operator* (
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detail::tvec3<T> operator* (
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detail::tvec3<T> const & v,
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detail::tvec3<T> const & v,
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detail::tquat<T> const & q);
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detail::tquat<T> const & q);
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template <typename T>
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template <typename T>
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detail::tvec4<T> operator* (
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detail::tvec4<T> operator* (
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detail::tquat<T> const & q,
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detail::tquat<T> const & q,
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detail::tvec4<T> const & v);
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detail::tvec4<T> const & v);
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template <typename T>
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template <typename T>
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detail::tvec4<T> operator* (
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detail::tvec4<T> operator* (
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detail::tvec4<T> const & v,
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detail::tvec4<T> const & v,
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detail::tquat<T> const & q);
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detail::tquat<T> const & q);
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template <typename T>
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template <typename T>
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detail::tdualquat<T> operator* (
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detail::tdualquat<T> operator* (
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detail::tdualquat<T> const & q,
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detail::tdualquat<T> const & q,
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typename detail::tdualquat<T>::value_type const & s);
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typename detail::tdualquat<T>::value_type const & s);
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template <typename T>
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template <typename T>
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detail::tdualquat<T> operator* (
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detail::tdualquat<T> operator* (
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typename detail::tdualquat<T>::value_type const & s,
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typename detail::tdualquat<T>::value_type const & s,
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detail::tdualquat<T> const & q);
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detail::tdualquat<T> const & q);
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template <typename T>
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template <typename T>
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detail::tdualquat<T> operator/ (
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detail::tdualquat<T> operator/ (
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detail::tdualquat<T> const & q,
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detail::tdualquat<T> const & q,
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typename detail::tdualquat<T>::value_type const & s);
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typename detail::tdualquat<T>::value_type const & s);
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} //namespace detail
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} //namespace detail
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/// @addtogroup gtc_dual_quaternion
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/// @{
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/// @addtogroup gtc_dual_quaternion
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/// Returns the normalized quaternion.
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/// @{
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///
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/// @see gtc_dual_quaternion
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template <typename T>
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detail::tdualquat<T> normalize(
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detail::tdualquat<T> const & q);
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/// Returns the normalized quaternion.
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/// Returns the linear interpolation of two dual quaternion.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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template <typename T>
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template <typename T>
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detail::tdualquat<T> normalize(
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detail::tdualquat<T> lerp (
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detail::tdualquat<T> const & q);
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detail::tdualquat<T> const & x,
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detail::tdualquat<T> const & y,
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typename detail::tdualquat<T>::value_type const & a);
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/// Returns the linear interpolation of two dual quaternion.
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/// Returns the q inverse.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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template <typename T>
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template <typename T>
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detail::tdualquat<T> lerp (
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detail::tdualquat<T> inverse(
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detail::tdualquat<T> const & x,
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detail::tdualquat<T> const & q);
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detail::tdualquat<T> const & y,
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typename detail::tdualquat<T>::value_type const & a);
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/// Returns the q inverse.
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/*
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///
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/// Extracts a rotation part from dual-quaternion to a 3 * 3 matrix.
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/// @see gtc_dual_quaternion
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/// TODO
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template <typename T>
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///
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detail::tdualquat<T> inverse(
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/// @see gtc_dual_quaternion
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detail::tdualquat<T> const & q);
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template <typename T>
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detail::tmat3x3<T> mat3_cast(
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detail::tdualquat<T> const & x);
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*/
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/// Converts a quaternion to a 2 * 4 matrix.
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///
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/// @see gtc_dual_quaternion
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template <typename T>
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detail::tmat2x4<T> mat2x4_cast(
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detail::tdualquat<T> const & x);
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/// Extracts a rotation part from dual-quaternion to a 3 * 3 matrix.
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/// Converts a quaternion to a 3 * 4 matrix.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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template <typename T>
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template <typename T>
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detail::tmat3x3<T> mat3_cast(
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detail::tmat3x4<T> mat3x4_cast(
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detail::tdualquat<T> const & x);
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detail::tdualquat<T> const & x);
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/// Converts a quaternion to a 2 * 4 matrix.
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/// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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template <typename T>
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template <typename T>
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detail::tmat2x4<T> mat2x4_cast(
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detail::tdualquat<T> dualquat_cast(
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detail::tdualquat<T> const & x);
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detail::tmat2x4<T> const & x);
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/// Converts a quaternion to a 3 * 4 matrix.
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/// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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template <typename T>
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template <typename T>
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detail::tmat3x4<T> mat3x4_cast(
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detail::tdualquat<T> dualquat_cast(
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detail::tdualquat<T> const & x);
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detail::tmat3x4<T> const & x);
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/// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
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/// Dual-quaternion of floating-point numbers.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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template <typename T>
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typedef detail::tdualquat<float> dualquat;
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detail::tdualquat<T> dualquat_cast(
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detail::tmat2x4<T> const & x);
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/// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
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/// Dual-quaternion of half-precision floating-point numbers.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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template <typename T>
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typedef detail::tdualquat<detail::half> hdualquat;
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detail::tdualquat<T> dualquat_cast(
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detail::tmat3x4<T> const & x);
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/// Dual-quaternion of floating-point numbers.
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/// Dual-quaternion of single-precision floating-point numbers.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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typedef detail::tdualquat<float> dualquat;
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typedef detail::tdualquat<float> fdualquat;
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/// Dual-quaternion of half-precision floating-point numbers.
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/// Dual-quaternion of double-precision floating-point numbers.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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typedef detail::tdualquat<detail::half> hdualquat;
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typedef detail::tdualquat<double> ddualquat;
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/// Dual-quaternion of single-precision floating-point numbers.
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/// Dual-quaternion of low precision floating-point numbers.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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typedef detail::tdualquat<float> fdualquat;
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typedef detail::tdualquat<lowp_float> lowp_dualquat;
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/// Dual-quaternion of double-precision floating-point numbers.
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/// Dual-quaternion of medium precision floating-point numbers.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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typedef detail::tdualquat<double> ddualquat;
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typedef detail::tdualquat<mediump_float> mediump_dualquat;
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/// Dual-quaternion of low precision floating-point numbers.
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/// Dual-quaternion of high precision floating-point numbers.
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///
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///
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/// @see gtc_dual_quaternion
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/// @see gtc_dual_quaternion
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typedef detail::tdualquat<lowp_float> lowp_dualquat;
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typedef detail::tdualquat<highp_float> highp_dualquat;
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/// Dual-quaternion of medium precision floating-point numbers.
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/// @}
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///
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/// @see gtc_dual_quaternion
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typedef detail::tdualquat<mediump_float> mediump_dualquat;
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/// Dual-quaternion of high precision floating-point numbers.
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///
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/// @see gtc_dual_quaternion
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typedef detail::tdualquat<highp_float> highp_dualquat;
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/// @}
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} //namespace glm
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} //namespace glm
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#include "dual_quaternion.inl"
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#include "dual_quaternion.inl"
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@ -20,8 +20,8 @@
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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/// THE SOFTWARE.
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/// THE SOFTWARE.
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///
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///
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/// @ref gtx_quaternion
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/// @ref gtx_dual_quaternion
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/// @file glm/gtx/quaternion.inl
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/// @file glm/gtx/dual_quaternion.inl
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/// @date 2013-02-10 / 2013-02-13
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/// @date 2013-02-10 / 2013-02-13
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/// @author Maksim Vorobiev (msomeone@gmail.com)
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/// @author Maksim Vorobiev (msomeone@gmail.com)
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///////////////////////////////////////////////////////////////////////////////////
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///////////////////////////////////////////////////////////////////////////////////
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@ -31,396 +31,396 @@
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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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{
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{
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template <typename T>
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template <typename T>
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GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tdualquat<T>::size_type tdualquat<T>::length() const
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GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tdualquat<T>::size_type tdualquat<T>::length() const
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{
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{
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return 8;
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return 8;
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}
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}
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template <typename T>
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template <typename T>
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GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat() :
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GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat() :
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real(tquat<T>()),
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real(tquat<T>()),
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dual(tquat<T>(tdualquat<T>::value_type(0),tdualquat<T>::value_type(0),tdualquat<T>::value_type(0),tdualquat<T>::value_type(0)))
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dual(tquat<T>(T(0), T(0), T(0), T(0)))
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{}
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{}
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template <typename T>
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template <typename T>
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GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
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GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
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(
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(
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tquat<T> const & r
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tquat<T> const & r
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) :
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) :
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real(r),
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real(r),
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dual(tquat<T>(tdualquat<T>::value_type(0),tdualquat<T>::value_type(0),tdualquat<T>::value_type(0),tdualquat<T>::value_type(0)))
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dual(tquat<T>(T(0), T(0), T(0), T(0)))
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{}
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{}
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template <typename T>
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template <typename T>
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GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
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GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
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(
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(
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tquat<T> const & r,
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tquat<T> const & r,
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tquat<T> const & d
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tquat<T> const & d
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) :
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) :
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real(r),
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real(r),
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dual(d)
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dual(d)
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{}
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{}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
|
GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
|
||||||
(
|
(
|
||||||
tquat<T> const & q,
|
tquat<T> const & q,
|
||||||
tvec3<T> const& p
|
tvec3<T> const& p
|
||||||
) :
|
) :
|
||||||
real(q),
|
real(q),
|
||||||
dual(-0.5f*( p.x*q.x + p.y*q.y + p.z*q.z),
|
dual(
|
||||||
0.5f*( p.x*q.w + p.y*q.z - p.z*q.y),
|
-0.5f*( p.x*q.x + p.y*q.y + p.z*q.z),
|
||||||
0.5f*(-p.x*q.z + p.y*q.w + p.z*q.x),
|
0.5f*( p.x*q.w + p.y*q.z - p.z*q.y),
|
||||||
0.5f*( p.x*q.y - p.y*q.x + p.z*q.w))
|
0.5f*(-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))
|
||||||
|
{}
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////
|
//////////////////////////////////////////////////////////////
|
||||||
// tdualquat conversions
|
// tdualquat conversions
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
|
GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
|
||||||
(
|
(
|
||||||
tmat2x4<T> const & holder_mat
|
tmat2x4<T> const & m
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
*this = dualquat_cast<>
|
*this = dualquat_cast(m);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
|
GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
|
||||||
(
|
(
|
||||||
tmat3x4<T> const & m
|
tmat3x4<T> const & m
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
*this = dualquat_cast(m);
|
*this = dualquat_cast(m);
|
||||||
}
|
}
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////
|
//////////////////////////////////////////////////////////////
|
||||||
// tdualquat<T> accesses
|
// tdualquat<T> accesses
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER typename tdualquat<T>::part_type & tdualquat<T>::operator [] (int i)
|
GLM_FUNC_QUALIFIER typename tdualquat<T>::part_type & tdualquat<T>::operator [] (int i)
|
||||||
{
|
{
|
||||||
return (&real)[i];
|
return (&real)[i];
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER typename tdualquat<T>::part_type const & tdualquat<T>::operator [] (int i) const
|
GLM_FUNC_QUALIFIER typename tdualquat<T>::part_type const & tdualquat<T>::operator [] (int i) const
|
||||||
{
|
{
|
||||||
return (&real)[i];
|
return (&real)[i];
|
||||||
}
|
}
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////
|
//////////////////////////////////////////////////////////////
|
||||||
// tdualquat<valType> operators
|
// tdualquat<valType> operators
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER tdualquat<T> & tdualquat<T>::operator *=
|
GLM_FUNC_QUALIFIER tdualquat<T> & tdualquat<T>::operator *=
|
||||||
(
|
(
|
||||||
value_type const & s
|
value_type const & s
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
this->real *= s;
|
this->real *= s;
|
||||||
this->dual *= s;
|
this->dual *= s;
|
||||||
return *this;
|
return *this;
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER tdualquat<T> & tdualquat<T>::operator /=
|
GLM_FUNC_QUALIFIER tdualquat<T> & tdualquat<T>::operator /=
|
||||||
(
|
(
|
||||||
value_type const & s
|
value_type const & s
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
this->real /= s;
|
this->real /= s;
|
||||||
this->dual /= s;
|
this->dual /= s;
|
||||||
return *this;
|
return *this;
|
||||||
}
|
}
|
||||||
|
|
||||||
//////////////////////////////////////////////////////////////
|
//////////////////////////////////////////////////////////////
|
||||||
// tquat<valType> external operators
|
// tquat<valType> external operators
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator-
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator-
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & q
|
detail::tdualquat<T> const & q
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return detail::tdualquat<T>(-this->real,-this->dual);
|
return detail::tdualquat<T>(-q.real,-q.dual);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator+
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator+
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & q,
|
detail::tdualquat<T> const & q,
|
||||||
detail::tdualquat<T> const & p
|
detail::tdualquat<T> const & p
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return detail::tdualquat<T>(q.real + p.real,q.dual + p.dual);
|
return detail::tdualquat<T>(q.real + p.real,q.dual + p.dual);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator*
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator*
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & p,
|
detail::tdualquat<T> const & p,
|
||||||
detail::tdualquat<T> const & o
|
detail::tdualquat<T> const & o
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return detail::tdualquat<T>(p.real * o.real,p.real * o.dual + p.dual * o.real);
|
return detail::tdualquat<T>(p.real * o.real,p.real * o.dual + p.dual * o.real);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Transformation
|
// Transformation
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tvec3<T> operator*
|
GLM_FUNC_QUALIFIER detail::tvec3<T> operator*
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & q,
|
detail::tdualquat<T> const & q,
|
||||||
detail::tvec3<T> const & v
|
detail::tvec3<T> const & v
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
const detail::tvec3<T> real_v3(q.real.x,q.real.y,q.real.z);
|
detail::tvec3<T> const real_v3(q.real.x,q.real.y,q.real.z);
|
||||||
const detail::tvec3<T> dual_v3(q.dual.x,q.dual.y,q.dual.z);
|
detail::tvec3<T> const dual_v3(q.dual.x,q.dual.y,q.dual.z);
|
||||||
return (cross(real_v3, cross(real_v3,v) + v * q.real.w + dual_v3) + dual_v3 * q.real.w - real_v3 * q.dual.w) * detail::tdualquat<T>::value_type(2) + v;
|
return (cross(real_v3, cross(real_v3,v) + v * q.real.w + dual_v3) + dual_v3 * q.real.w - real_v3 * q.dual.w) * T(2) + v;
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tvec3<T> operator*
|
GLM_FUNC_QUALIFIER detail::tvec3<T> operator*
|
||||||
(
|
(
|
||||||
detail::tvec3<T> const & v,
|
detail::tvec3<T> const & v,
|
||||||
detail::tdualquat<T> const & q
|
detail::tdualquat<T> const & q
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return inverse(q) * v;
|
return inverse(q) * v;
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tvec4<T> operator*
|
GLM_FUNC_QUALIFIER detail::tvec4<T> operator*
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & q,
|
detail::tdualquat<T> const & q,
|
||||||
detail::tvec4<T> const & v
|
detail::tvec4<T> const & v
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return detail::tvec4<T>(q * detail::tvec3<T>(v), v.w);
|
return detail::tvec4<T>(q * detail::tvec3<T>(v), v.w);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tvec4<T> operator* (
|
GLM_FUNC_QUALIFIER detail::tvec4<T> operator*
|
||||||
detail::tvec4<T> const & v,
|
(
|
||||||
detail::tdualquat<T> const & q)
|
detail::tvec4<T> const & v,
|
||||||
{
|
detail::tdualquat<T> const & q
|
||||||
return inverse(q) * v;
|
)
|
||||||
}
|
{
|
||||||
|
return inverse(q) * v;
|
||||||
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator*
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator*
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & q,
|
detail::tdualquat<T> const & q,
|
||||||
typename detail::tdualquat<T>::value_type const & s
|
typename detail::tdualquat<T>::value_type const & s
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return detail::tdualquat<T>(q.real * s, q.dual * s);
|
return detail::tdualquat<T>(q.real * s, q.dual * s);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator*
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator*
|
||||||
(
|
(
|
||||||
typename detail::tdualquat<T>::value_type const & s,
|
typename detail::tdualquat<T>::value_type const & s,
|
||||||
detail::tdualquat<T> const & q
|
detail::tdualquat<T> const & q
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return q * s;
|
return q * s;
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator/
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> operator/
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & q,
|
detail::tdualquat<T> const & q,
|
||||||
typename detail::tdualquat<T>::value_type const & s
|
typename detail::tdualquat<T>::value_type const & s
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return detail::tdualquat<T>(q.real / s, q.dual / s);
|
return detail::tdualquat<T>(q.real / s, q.dual / s);
|
||||||
}
|
}
|
||||||
|
|
||||||
//////////////////////////////////////
|
//////////////////////////////////////
|
||||||
// Boolean operators
|
// Boolean operators
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER bool operator==
|
GLM_FUNC_QUALIFIER bool operator==
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & q1,
|
detail::tdualquat<T> const & q1,
|
||||||
detail::tdualquat<T> const & q2
|
detail::tdualquat<T> const & q2
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return (q1.real == q2.real) && (q1.dual == q2.dual);
|
return (q1.real == q2.real) && (q1.dual == q2.dual);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER bool operator!=
|
GLM_FUNC_QUALIFIER bool operator!=
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & q1,
|
detail::tdualquat<T> const & q1,
|
||||||
detail::tdualquat<T> const & q2
|
detail::tdualquat<T> const & q2
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return (q1.real != q2.dual) || (q1.real != q2.dual);
|
return (q1.real != q2.dual) || (q1.real != q2.dual);
|
||||||
}
|
}
|
||||||
}//namespace detail
|
}//namespace detail
|
||||||
|
|
||||||
////////////////////////////////////////////////////////
|
////////////////////////////////////////////////////////
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> normalize
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> normalize
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & q
|
detail::tdualquat<T> const & q
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return q / length(q.real);
|
return q / length(q.real);
|
||||||
}
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> lerp
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> lerp
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & x,
|
detail::tdualquat<T> const & x,
|
||||||
detail::tdualquat<T> const & y,
|
detail::tdualquat<T> const & y,
|
||||||
typename detail::tdualquat<T>::value_type const & a
|
typename detail::tdualquat<T>::value_type const & a
|
||||||
)
|
)
|
||||||
{ // Dual Quaternion Linear blend aka DLB:
|
{
|
||||||
// Lerp is only defined in [0, 1]
|
// Dual Quaternion Linear blend aka DLB:
|
||||||
assert(a >= T(0));
|
// Lerp is only defined in [0, 1]
|
||||||
assert(a <= T(1));
|
assert(a >= T(0));
|
||||||
const detail::tdualquat<T>::value_type k = dot(x.real,y.real) < detail::tdualquat<T>::value_type(0) ? -a : a;
|
assert(a <= T(1));
|
||||||
const detail::tdualquat<T>::value_type one(1);
|
T const k = dot(x.real,y.real) < detail::tdualquat<T>::value_type(0) ? -a : a;
|
||||||
return detail::tdualquat<T>(x * (one - a) + y * k);
|
T const one(1);
|
||||||
}
|
return detail::tdualquat<T>(x * (one - a) + y * k);
|
||||||
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> inverse
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> inverse
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & q
|
detail::tdualquat<T> const & q
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
const glm::detail::tquat<T> real = conjugate(q.real);
|
const glm::detail::tquat<T> real = conjugate(q.real);
|
||||||
const glm::detail::tquat<T> dual = conjugate(q.dual);
|
const glm::detail::tquat<T> dual = conjugate(q.dual);
|
||||||
return detail::tdualquat<T>(real, dual + (real * (-2.0f * dot(real,dual))));
|
return detail::tdualquat<T>(real, dual + (real * (-2.0f * dot(real,dual))));
|
||||||
}
|
}
|
||||||
|
/*
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tmat3x3<T> mat3_cast
|
GLM_FUNC_QUALIFIER detail::tmat3x3<T> mat3_cast
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & x
|
detail::tdualquat<T> const & x
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
}
|
}
|
||||||
|
*/
|
||||||
|
template <typename T>
|
||||||
|
GLM_FUNC_QUALIFIER detail::tmat2x4<T> mat2x4_cast
|
||||||
|
(
|
||||||
|
detail::tdualquat<T> const & x
|
||||||
|
)
|
||||||
|
{
|
||||||
|
return detail::tmat2x4<T>( x[0].x, x[0].y, x[0].z, x[0].w, x[1].x, x[1].y, x[1].z, x[1].w );
|
||||||
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tmat2x4<T> mat2x4_cast
|
GLM_FUNC_QUALIFIER detail::tmat3x4<T> mat3x4_cast
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & x
|
detail::tdualquat<T> const & x
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
return detail::tmat2x4<T>( x[0].x, x[0].y, x[0].z, x[0].w, x[1].x, x[1].y, x[1].z, x[1].w );
|
detail::tquat<T> r = x.real / length2(x.real);
|
||||||
}
|
|
||||||
|
detail::tquat<T> const rr(r.w * x.real.w, r.x * x.real.x, r.y * x.real.y, r.z * x.real.z);
|
||||||
|
r *= T(2);
|
||||||
|
|
||||||
|
T const xy = r.x * x.real.y;
|
||||||
|
T const xz = r.x * x.real.z;
|
||||||
|
T const yz = r.y * x.real.z;
|
||||||
|
T const wx = r.w * x.real.x;
|
||||||
|
T const wy = r.w * x.real.y;
|
||||||
|
T const wz = r.w * x.real.z;
|
||||||
|
|
||||||
|
detail::tvec4<T> const a(
|
||||||
|
rr.w + rr.x - rr.y - rr.z,
|
||||||
|
xy - wz,
|
||||||
|
xz + wy,
|
||||||
|
-(x.dual.w * r.x - x.dual.x * r.w + x.dual.y * r.z - x.dual.z * r.y));
|
||||||
|
|
||||||
|
detail::tvec4<T> const b(
|
||||||
|
xy + wz,
|
||||||
|
rr.w + rr.y - rr.x - rr.z,
|
||||||
|
yz - wx,
|
||||||
|
-(x.dual.w * r.y - x.dual.x * r.z - x.dual.y * r.w + x.dual.z * r.x));
|
||||||
|
|
||||||
|
detail::tvec4<T> const c(
|
||||||
|
xz - wy,
|
||||||
|
yz + wx,
|
||||||
|
rr.w + rr.z - rr.x - rr.y,
|
||||||
|
-(x.dual.w * r.z + x.dual.x * r.y - x.dual.y * r.x - x.dual.z * r.w));
|
||||||
|
|
||||||
|
return detail::tmat3x4<T>(a, b, c);
|
||||||
|
}
|
||||||
|
|
||||||
template <typename T>
|
template <typename T>
|
||||||
GLM_FUNC_QUALIFIER detail::tmat3x4<T> mat3x4_cast
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> dualquat_cast
|
||||||
(
|
(
|
||||||
detail::tdualquat<T> const & x
|
detail::tmat2x4<T> const & x
|
||||||
)
|
)
|
||||||
{
|
{
|
||||||
detail::tquat<T> r = x.real / length2(x.real);
|
return detail::tdualquat<T>(
|
||||||
|
detail::tquat<T>( x[0].w, x[0].x, x[0].y, x[0].z ),
|
||||||
const detail::tquat<T> rr(r.w * x.real.w, r.x * x.real.x, r.y * x.real.y, r.z * x.real.z);
|
detail::tquat<T>( x[1].w, x[1].x, x[1].y, x[1].z ));
|
||||||
r *= detail::tdualquat<T>::value_type(2);
|
}
|
||||||
|
|
||||||
const detail::tdualquat<T>::value_type xy = r.x*d.real.y;
|
template <typename T>
|
||||||
const detail::tdualquat<T>::value_type xz = r.x*d.real.z;
|
GLM_FUNC_QUALIFIER detail::tdualquat<T> dualquat_cast
|
||||||
const detail::tdualquat<T>::value_type yz = r.y*d.real.z;
|
(
|
||||||
const detail::tdualquat<T>::value_type wx = r.w*d.real.x;
|
detail::tmat3x4<T> const & x
|
||||||
const detail::tdualquat<T>::value_type wy = r.w*d.real.y;
|
)
|
||||||
const detail::tdualquat<T>::value_type wz = r.w*d.real.z;
|
{
|
||||||
|
detail::tquat<T> real;
|
||||||
const detail::tvec4<T> a(
|
|
||||||
rr.w + rr.x - rr.y - rr.z,
|
T const trace = x[0].x + x[1].y + x[2].z;
|
||||||
xy - wz,
|
if(trace > detail::tdualquat<T>::value_type(0))
|
||||||
xz + wy,
|
{
|
||||||
-(x.dual.w * r.x - x.dual.x * r.w + x.dual.y * r.z - x.dual.z * r.y)
|
T const r = sqrt(detail::tdualquat<T>::value_type(1) + trace);
|
||||||
);
|
T const invr = detail::tdualquat<T>::value_type(0.5) / r;
|
||||||
|
real.w = detail::tdualquat<T>::value_type(0.5) * r;
|
||||||
const detail::tvec4<T> b(
|
real.x = (x[2].y - x[1].z) * invr;
|
||||||
xy + wz,
|
real.y = (x[0].z - x[2].x) * invr;
|
||||||
rr.w + rr.y - rr.x - rr.z,
|
real.z = (x[1].x - x[0].y) * invr;
|
||||||
yz - wx,
|
}
|
||||||
-(x.dual.w * r.y - x.dual.x * r.z - x.dual.y * r.w + x.dual.z * r.x)
|
else if(x[0].x > x[1].y && x[0].x > x[2].z)
|
||||||
);
|
{
|
||||||
|
T const r = sqrt(detail::tdualquat<T>::value_type(1) + x[0].x - x[1].y - x[2].z);
|
||||||
const detail::tvec4<T> c(
|
T const invr = detail::tdualquat<T>::value_type(0.5) / r;
|
||||||
xz - wy,
|
real.x = detail::tdualquat<T>::value_type(0.5)*r;
|
||||||
yz + wx,
|
real.y = (x[1].x + x[0].y) * invr;
|
||||||
rr.w + rr.z - rr.x - rr.y,
|
real.z = (x[0].z + x[2].x) * invr;
|
||||||
-(x.dual.w * r.z + x.dual.x * r.y - x.dual.y * r.x - x.dual.z * r.w)
|
real.w = (x[2].y - x[1].z) * invr;
|
||||||
);
|
}
|
||||||
|
else if(x[1].y > x[2].z)
|
||||||
return detail::tmat3x4<T>(a,b,c);
|
{
|
||||||
}
|
T const r = sqrt(T(1) + x[1].y - x[0].x - x[2].z);
|
||||||
|
T const invr = T(0.5) / r;
|
||||||
template <typename T>
|
real.x = (x[1].x + x[0].y) * invr;
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> dualquat_cast
|
real.y = T(0.5) * r;
|
||||||
(
|
real.z = (x[2].y + x[1].z) * invr;
|
||||||
detail::tmat2x4<T> const & x
|
real.w = (x[0].z - x[2].x) * invr;
|
||||||
)
|
}
|
||||||
{
|
else
|
||||||
return detail::tdualquat (
|
{
|
||||||
detail::tquat<T> ( x[0].w, x[0].x, x[0].y, x[0].z ),
|
T const r = sqrt(T(1) + x[2].z - x[0].x - x[1].y);
|
||||||
detail::tquat<T> ( x[1].w, x[1].x, x[1].y, x[1].z )
|
T const invr = T(0.5) / r;
|
||||||
);
|
real.x = (x[0].z + x[2].x) * invr;
|
||||||
}
|
real.y = (x[2].y + x[1].z) * invr;
|
||||||
|
real.z = T(0.5) * r;
|
||||||
template <typename T>
|
real.w = (x[1].x - x[0].y) * invr;
|
||||||
GLM_FUNC_QUALIFIER detail::tdualquat<T> dualquat_cast
|
}
|
||||||
(
|
|
||||||
detail::tmat3x4<T> const & x
|
detail::tquat<T> dual;
|
||||||
)
|
dual.x = T(0.5) * ( x[0].w * real.w + x[1].w * real.z - x[2].w * real.y);
|
||||||
{
|
dual.y = T(0.5) * (-x[0].w * real.z + x[1].w * real.w + x[2].w * real.x);
|
||||||
detail::tquat<T> real;
|
dual.z = T(0.5) * ( x[0].w * real.y - x[1].w * real.x + x[2].w * real.w);
|
||||||
|
dual.w = -T(0.5) * ( x[0].w * real.x + x[1].w * real.y + x[2].w * real.z);
|
||||||
const detail::tdualquat<T>::value_type trace = x[0].x + x[1].y + x[2].z;
|
return detail::tdualquat<T>(real, dual);
|
||||||
if(trace > detail::tdualquat<T>::value_type(0))
|
}
|
||||||
{
|
|
||||||
const detail::tdualquat<T>::value_type r = sqrt(detail::tdualquat<T>::value_type(1) + trace);
|
|
||||||
const detail::tdualquat<T>::value_type invr = detail::tdualquat<T>::value_type(0.5) / r;
|
|
||||||
real.w = detail::tdualquat<T>::value_type(0.5) * r;
|
|
||||||
real.x = (x[2].y - x[1].z) * invr;
|
|
||||||
real.y = (x[0].z - x[2].x) * invr;
|
|
||||||
real.z = (x[1].x - x[0].y) * invr;
|
|
||||||
}
|
|
||||||
else if(x[0].x > x[1].y && x[0].x > x[2].z)
|
|
||||||
{
|
|
||||||
const detail::tdualquat<T>::value_type r = sqrt(detail::tdualquat<T>::value_type(1) + x[0].x - x[1].y - x[2].z);
|
|
||||||
const detail::tdualquat<T>::value_type invr = detail::tdualquat<T>::value_type(0.5) / r;
|
|
||||||
real.x = detail::tdualquat<T>::value_type(0.5)*r;
|
|
||||||
real.y = (x[1].x + x[0].y) * invr;
|
|
||||||
real.z = (x[0].z + x[2].x) * invr;
|
|
||||||
real.w = (x[2].y - x[1].z) * invr;
|
|
||||||
}
|
|
||||||
else if(x[1].y > x[2].z)
|
|
||||||
{
|
|
||||||
const detail::tdualquat<T>::value_type r = sqrt(detail::tdualquat<T>::value_type(1) + x[1].y - x[0].x - x[2].z);
|
|
||||||
const detail::tdualquat<T>::value_type invr = detail::tdualquat<T>::value_type(0.5) / r;
|
|
||||||
x = (x[1].x + x[0].y) * invr;
|
|
||||||
y = detail::tdualquat<T>::value_type(0.5) * r;
|
|
||||||
z = (x[2].y + x[1].z) * invr;
|
|
||||||
w = (x[0].z - x[2].x) * invr;
|
|
||||||
}
|
|
||||||
else
|
|
||||||
{
|
|
||||||
const detail::tdualquat<T>::value_type r = sqrt(detail::tdualquat<T>::value_type(1) + x[2].z - x[0].x - x[1].y);
|
|
||||||
const detail::tdualquat<T>::value_type invr = detail::tdualquat<T>::value_type(0.5) / r;
|
|
||||||
x = (x[0].z + x[2].x) * invr;
|
|
||||||
y = (x[2].y + x[1].z) * invr;
|
|
||||||
z = detail::tdualquat<T>::value_type(0.5) * r;
|
|
||||||
w = (x[1].x - x[0].y) * invr;
|
|
||||||
}
|
|
||||||
|
|
||||||
const detail::tquat<T> dual;
|
|
||||||
dual.x = 0.5f*( x[0].w*real.w + x[1].w*real.z - x[2].w*real.y);
|
|
||||||
dual.y = 0.5f*(-x[0].w*real.z + x[1].w*real.w + x[2].w*real.x);
|
|
||||||
dual.z = 0.5f*( x[0].w*real.y - x[1].w*real.x + x[2].w*real.w);
|
|
||||||
dual.w = -0.5f*( x[0].w*real.x + x[1].w*real.y + x[2].w*real.z);
|
|
||||||
return detail::tdualquat<T>(real,dual);
|
|
||||||
}
|
|
||||||
|
|
||||||
}//namespace glm
|
}//namespace glm
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user