12345678910111213141516171819202122232425262728293031323334353637383940414243444546474849505152535455565758596061626364656667686970717273747576777879808182838485868788899091929394959697989910010110210310410510610710810911011111211311411511611711811912012112212312412512612712812913013113213313413513613713813914014114214314414514614714814915015115215315415515615715815916016116216316416516616716816917017117217317417517617717817918018118218318418518618718818919019119219319419519619719819920020120220320420520620720820921021121221321421521621721821922022122222322422522622722822923023123223323423523623723823924024124224324424524624724824925025125225325425525625725825926026126226326426526626726826927027127227327427527627727827928028128228328428528628728828929029129229329429529629729829930030130230330430530630730830931031131231331431531631731831932032132232332432532632732832933033133233333433533633733833934034134234334434534634734834935035135235335435535635735835936036136236336436536636736836937037137237337437537637737837938038138238338438538638738838939039139239339439539639739839940040140240340440540640740840941041141241341441541641741841942042142242342442542642742842943043143243343443543643743843944044144244344444544644744844945045145245345445545645745845946046146246346446546646746846947047147247347447547647747847948048148248348448548648748848949049149249349449549649749849950050150250350450550650750850951051151251351451551651751851952052152252352452552652752852953053153253353453553653753853954054154254354454554654754854955055155255355455555655755855956056156256356456556656756856957057157257357457557657757857958058158258358458558658758858959059159259359459559659759859960060160260360460560660760860961061161261361461561661761861962062162262362462562662762862963063163263363463563663763863964064164264364464564664764864965065165265365465565665765865966066166266366466566666766866967067167267367467567667767867968068168268368468568668768868969069169269369469569669769869970070170270370470570670770870971071171271371471571671771871972072172272372472572672772872973073173273373473573673773873974074174274374474574674774874975075175275375475575675775875976076176276376476576676776876977077177277377477577677777877978078178278378478578678778878979079179279379479579679779879980080180280380480580680780880981081181281381481581681781881982082182282382482582682782882983083183283383483583683783883984084184284384484584684784884985085185285385485585685785885986086186286386486586686786886987087187287387487587687787887988088188288388488588688788888989089189289389489589689789889990090190290390490590690790890991091191291391491591691791891992092192292392492592692792892993093193293393493593693793893994094194294394494594694794894995095195295395495595695795895996096196296396496596696796896997097197297397497597697797897998098198298398498598698798898999099199299399499599699799899910001001100210031004100510061007100810091010101110121013101410151016101710181019102010211022102310241025102610271028102910301031103210331034103510361037103810391040104110421043104410451046104710481049105010511052105310541055105610571058105910601061106210631064106510661067106810691070107110721073107410751076107710781079108010811082108310841085108610871088108910901091109210931094109510961097109810991100110111021103110411051106110711081109111011111112111311141115111611171118111911201121112211231124112511261127112811291130113111321133113411351136113711381139114011411142114311441145114611471148114911501151115211531154115511561157115811591160116111621163116411651166116711681169117011711172117311741175117611771178117911801181118211831184118511861187118811891190119111921193119411951196119711981199120012011202120312041205120612071208120912101211121212131214121512161217121812191220122112221223122412251226122712281229123012311232123312341235123612371238123912401241124212431244124512461247124812491250125112521253125412551256125712581259126012611262126312641265126612671268126912701271127212731274127512761277127812791280128112821283128412851286128712881289129012911292129312941295129612971298129913001301130213031304130513061307130813091310131113121313131413151316131713181319132013211322132313241325132613271328132913301331133213331334133513361337133813391340134113421343134413451346134713481349135013511352135313541355135613571358135913601361136213631364136513661367136813691370137113721373137413751376137713781379138013811382138313841385138613871388138913901391139213931394139513961397139813991400140114021403140414051406140714081409141014111412141314141415141614171418141914201421142214231424142514261427142814291430143114321433143414351436143714381439144014411442144314441445144614471448144914501451145214531454145514561457145814591460146114621463146414651466146714681469147014711472147314741475147614771478147914801481148214831484148514861487148814891490149114921493 |
- //Copyright (c) 2008-2016 Emil Dotchevski and Reverge Studios, Inc.
- //Distributed under the Boost Software License, Version 1.0. (See accompanying
- //file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
- #ifndef UUID_E6519754D19211DFB8405F74DFD72085
- #define UUID_E6519754D19211DFB8405F74DFD72085
- #include <boost/qvm/detail/quat_assign.hpp>
- #include <boost/qvm/deduce_quat.hpp>
- #include <boost/qvm/mat_traits.hpp>
- #include <boost/qvm/scalar_traits.hpp>
- #include <boost/qvm/math.hpp>
- #include <boost/qvm/assert.hpp>
- #include <boost/qvm/error.hpp>
- #include <boost/qvm/throw_exception.hpp>
- #include <string>
- namespace
- boost
- {
- namespace
- qvm
- {
- namespace
- qvm_detail
- {
- BOOST_QVM_INLINE_CRITICAL
- void const *
- get_valid_ptr_quat_operations()
- {
- static int const obj=0;
- return &obj;
- }
- }
- ////////////////////////////////////////////////
- namespace
- msvc_parse_bug_workaround
- {
- template <class A,class B>
- struct
- quats
- {
- static bool const value=is_quat<A>::value && is_quat<B>::value;
- };
- }
- namespace
- qvm_to_string_detail
- {
- template <class T>
- std::string to_string( T const & x );
- }
- template <class A>
- inline
- typename boost::enable_if_c<
- is_quat<A>::value,
- std::string>::type
- to_string( A const & a )
- {
- using namespace qvm_to_string_detail;
- return '('+
- to_string(quat_traits<A>::template read_element<0>(a))+','+
- to_string(quat_traits<A>::template read_element<1>(a))+','+
- to_string(quat_traits<A>::template read_element<2>(a))+','+
- to_string(quat_traits<A>::template read_element<3>(a))+')';
- }
- ////////////////////////////////////////////////
- template <class A,class B,class Cmp>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value && is_quat<B>::value,
- bool>::type
- cmp( A const & a, B const & b, Cmp f )
- {
- typedef typename deduce_scalar<
- typename quat_traits<A>::scalar_type,
- typename quat_traits<B>::scalar_type>::type T;
- T q1[4] =
- {
- quat_traits<A>::template read_element<0>(a),
- quat_traits<A>::template read_element<1>(a),
- quat_traits<A>::template read_element<2>(a),
- quat_traits<A>::template read_element<3>(a)
- };
- T q2[4] =
- {
- quat_traits<B>::template read_element<0>(b),
- quat_traits<B>::template read_element<1>(b),
- quat_traits<B>::template read_element<2>(b),
- quat_traits<B>::template read_element<3>(b)
- };
- int i;
- for( i=0; i!=4; ++i )
- if( !f(q1[i],q2[i]) )
- break;
- if( i==4 )
- return true;
- for( i=0; i!=4; ++i )
- if( !f(q1[i],-q2[i]) )
- return false;
- return true;
- }
- ////////////////////////////////////////////////
- template <class R,class A>
- BOOST_QVM_INLINE_TRIVIAL
- typename enable_if_c<
- is_quat<R>::value && is_quat<A>::value,
- R>::type
- convert_to( A const & a )
- {
- R r;
- quat_traits<R>::template write_element<0>(r) = quat_traits<A>::template read_element<0>(a);
- quat_traits<R>::template write_element<1>(r) = quat_traits<A>::template read_element<1>(a);
- quat_traits<R>::template write_element<2>(r) = quat_traits<A>::template read_element<2>(a);
- quat_traits<R>::template write_element<3>(r) = quat_traits<A>::template read_element<3>(a);
- return r;
- }
- template <class R,class A>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<R>::value && is_mat<A>::value &&
- mat_traits<A>::rows==3 && mat_traits<A>::cols==3,
- R>::type
- convert_to( A const & a )
- {
- typedef typename mat_traits<A>::scalar_type T;
- T const mat[3][3] =
- {
- { mat_traits<A>::template read_element<0,0>(a), mat_traits<A>::template read_element<0,1>(a), mat_traits<A>::template read_element<0,2>(a) },
- { mat_traits<A>::template read_element<1,0>(a), mat_traits<A>::template read_element<1,1>(a), mat_traits<A>::template read_element<1,2>(a) },
- { mat_traits<A>::template read_element<2,0>(a), mat_traits<A>::template read_element<2,1>(a), mat_traits<A>::template read_element<2,2>(a) }
- };
- R r;
- if( mat[0][0]+mat[1][1]+mat[2][2] > scalar_traits<T>::value(0) )
- {
- T t = mat[0][0] + mat[1][1] + mat[2][2] + scalar_traits<T>::value(1);
- T s = (scalar_traits<T>::value(1)/sqrt<T>(t))/2;
- quat_traits<R>::template write_element<0>(r)=s*t;
- quat_traits<R>::template write_element<1>(r)=(mat[2][1]-mat[1][2])*s;
- quat_traits<R>::template write_element<2>(r)=(mat[0][2]-mat[2][0])*s;
- quat_traits<R>::template write_element<3>(r)=(mat[1][0]-mat[0][1])*s;
- }
- else if( mat[0][0]>mat[1][1] && mat[0][0]>mat[2][2] )
- {
- T t = mat[0][0] - mat[1][1] - mat[2][2] + scalar_traits<T>::value(1);
- T s = (scalar_traits<T>::value(1)/sqrt<T>(t))/2;
- quat_traits<R>::template write_element<0>(r)=(mat[2][1]-mat[1][2])*s;
- quat_traits<R>::template write_element<1>(r)=s*t;
- quat_traits<R>::template write_element<2>(r)=(mat[1][0]+mat[0][1])*s;
- quat_traits<R>::template write_element<3>(r)=(mat[0][2]+mat[2][0])*s;
- }
- else if( mat[1][1]>mat[2][2] )
- {
- T t = - mat[0][0] + mat[1][1] - mat[2][2] + scalar_traits<T>::value(1);
- T s = (scalar_traits<T>::value(1)/sqrt<T>(t))/2;
- quat_traits<R>::template write_element<0>(r)=(mat[0][2]-mat[2][0])*s;
- quat_traits<R>::template write_element<1>(r)=(mat[1][0]+mat[0][1])*s;
- quat_traits<R>::template write_element<2>(r)=s*t;
- quat_traits<R>::template write_element<3>(r)=(mat[2][1]+mat[1][2])*s;
- }
- else
- {
- T t = - mat[0][0] - mat[1][1] + mat[2][2] + scalar_traits<T>::value(1);
- T s = (scalar_traits<T>::value(1)/sqrt<T>(t))/2;
- quat_traits<R>::template write_element<0>(r)=(mat[1][0]-mat[0][1])*s;
- quat_traits<R>::template write_element<1>(r)=(mat[0][2]+mat[2][0])*s;
- quat_traits<R>::template write_element<2>(r)=(mat[2][1]+mat[1][2])*s;
- quat_traits<R>::template write_element<3>(r)=s*t;
- }
- return r;
- }
- ////////////////////////////////////////////////
- template <class A>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value,
- deduce_quat<A> >::type
- conjugate( A const & a )
- {
- typedef typename deduce_quat<A>::type R;
- R r;
- quat_traits<R>::template write_element<0>(r)=quat_traits<A>::template read_element<0>(a);
- quat_traits<R>::template write_element<1>(r)=-quat_traits<A>::template read_element<1>(a);
- quat_traits<R>::template write_element<2>(r)=-quat_traits<A>::template read_element<2>(a);
- quat_traits<R>::template write_element<3>(r)=-quat_traits<A>::template read_element<3>(a);
- return r;
- }
- ////////////////////////////////////////////////
- namespace
- qvm_detail
- {
- template <class T>
- class
- identity_quat_
- {
- identity_quat_( identity_quat_ const & );
- identity_quat_ & operator=( identity_quat_ const & );
- ~identity_quat_();
- public:
- template <class R>
- BOOST_QVM_INLINE_TRIVIAL
- operator R() const
- {
- R r;
- assign(r,*this);
- return r;
- }
- };
- }
- template <class T>
- struct
- quat_traits< qvm_detail::identity_quat_<T> >
- {
- typedef qvm_detail::identity_quat_<T> this_quaternion;
- typedef T scalar_type;
- template <int I>
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element( this_quaternion const & x )
- {
- BOOST_QVM_STATIC_ASSERT(I>=0);
- BOOST_QVM_STATIC_ASSERT(I<4);
- return scalar_traits<T>::value(I==0);
- }
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element_idx( int i, this_quaternion const & x )
- {
- BOOST_QVM_ASSERT(i>=0);
- BOOST_QVM_ASSERT(i<4);
- return scalar_traits<T>::value(i==0);
- }
- };
- template <class T>
- struct
- deduce_quat< qvm_detail::identity_quat_<T> >
- {
- typedef quat<T> type;
- };
- template <class T>
- struct
- deduce_quat2< qvm_detail::identity_quat_<T>, qvm_detail::identity_quat_<T> >
- {
- typedef quat<T> type;
- };
- template <class T>
- BOOST_QVM_INLINE_TRIVIAL
- qvm_detail::identity_quat_<T> const &
- identity_quat()
- {
- return *(qvm_detail::identity_quat_<T> const *)qvm_detail::get_valid_ptr_quat_operations();
- }
- template <class A>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- void>::type
- set_identity( A & a )
- {
- typedef typename quat_traits<A>::scalar_type T;
- T const zero=scalar_traits<T>::value(0);
- T const one=scalar_traits<T>::value(1);
- quat_traits<A>::template write_element<0>(a) = one;
- quat_traits<A>::template write_element<1>(a) = zero;
- quat_traits<A>::template write_element<2>(a) = zero;
- quat_traits<A>::template write_element<3>(a) = zero;
- }
- ////////////////////////////////////////////////
- namespace
- qvm_detail
- {
- template <class OriginalType,class Scalar>
- class
- quaternion_scalar_cast_
- {
- quaternion_scalar_cast_( quaternion_scalar_cast_ const & );
- quaternion_scalar_cast_ & operator=( quaternion_scalar_cast_ const & );
- ~quaternion_scalar_cast_();
- public:
- template <class T>
- BOOST_QVM_INLINE_TRIVIAL
- quaternion_scalar_cast_ &
- operator=( T const & x )
- {
- assign(*this,x);
- return *this;
- }
- template <class R>
- BOOST_QVM_INLINE_TRIVIAL
- operator R() const
- {
- R r;
- assign(r,*this);
- return r;
- }
- };
- template <bool> struct scalar_cast_quaternion_filter { };
- template <> struct scalar_cast_quaternion_filter<true> { typedef int type; };
- }
- template <class OriginalType,class Scalar>
- struct
- quat_traits< qvm_detail::quaternion_scalar_cast_<OriginalType,Scalar> >
- {
- typedef Scalar scalar_type;
- typedef qvm_detail::quaternion_scalar_cast_<OriginalType,Scalar> this_quaternion;
- template <int I>
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element( this_quaternion const & x )
- {
- BOOST_QVM_STATIC_ASSERT(I>=0);
- BOOST_QVM_STATIC_ASSERT(I<4);
- return scalar_type(quat_traits<OriginalType>::template read_element<I>(reinterpret_cast<OriginalType const &>(x)));
- }
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element_idx( int i, this_quaternion const & x )
- {
- BOOST_QVM_ASSERT(i>=0);
- BOOST_QVM_ASSERT(i<4);
- return scalar_type(quat_traits<OriginalType>::read_element_idx(i,reinterpret_cast<OriginalType const &>(x)));
- }
- };
- template <class Scalar,class T>
- BOOST_QVM_INLINE_TRIVIAL
- qvm_detail::quaternion_scalar_cast_<T,Scalar> const &
- scalar_cast( T const & x, typename qvm_detail::scalar_cast_quaternion_filter<is_quat<T>::value>::type=0 )
- {
- return reinterpret_cast<qvm_detail::quaternion_scalar_cast_<T,Scalar> const &>(x);
- }
- ////////////////////////////////////////////////
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value && is_scalar<B>::value,
- A &>::type
- operator/=( A & a, B b )
- {
- quat_traits<A>::template write_element<0>(a)/=b;
- quat_traits<A>::template write_element<1>(a)/=b;
- quat_traits<A>::template write_element<2>(a)/=b;
- quat_traits<A>::template write_element<3>(a)/=b;
- return a;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value && is_scalar<B>::value,
- deduce_quat<A> >::type
- operator/( A const & a, B b )
- {
- typedef typename deduce_quat<A>::type R;
- R r;
- quat_traits<R>::template write_element<0>(r) = quat_traits<A>::template read_element<0>(a)/b;
- quat_traits<R>::template write_element<1>(r) = quat_traits<A>::template read_element<1>(a)/b;
- quat_traits<R>::template write_element<2>(r) = quat_traits<A>::template read_element<2>(a)/b;
- quat_traits<R>::template write_element<3>(r) = quat_traits<A>::template read_element<3>(a)/b;
- return r;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value && is_quat<B>::value,
- deduce_scalar<typename quat_traits<A>::scalar_type,typename quat_traits<B>::scalar_type> >::type
- dot( A const & a, B const & b )
- {
- typedef typename quat_traits<A>::scalar_type Ta;
- typedef typename quat_traits<B>::scalar_type Tb;
- typedef typename deduce_scalar<Ta,Tb>::type Tr;
- Ta const a0=quat_traits<A>::template read_element<0>(a);
- Ta const a1=quat_traits<A>::template read_element<1>(a);
- Ta const a2=quat_traits<A>::template read_element<2>(a);
- Ta const a3=quat_traits<A>::template read_element<3>(a);
- Tb const b0=quat_traits<B>::template read_element<0>(b);
- Tb const b1=quat_traits<B>::template read_element<1>(b);
- Tb const b2=quat_traits<B>::template read_element<2>(b);
- Tb const b3=quat_traits<B>::template read_element<3>(b);
- Tr const dp=a0*b0+a1*b1+a2*b2+a3*b3;
- return dp;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value && is_quat<B>::value,
- bool>::type
- operator==( A const & a, B const & b )
- {
- return
- quat_traits<A>::template read_element<0>(a)==quat_traits<B>::template read_element<0>(b) &&
- quat_traits<A>::template read_element<1>(a)==quat_traits<B>::template read_element<1>(b) &&
- quat_traits<A>::template read_element<2>(a)==quat_traits<B>::template read_element<2>(b) &&
- quat_traits<A>::template read_element<3>(a)==quat_traits<B>::template read_element<3>(b);
- }
- template <class A>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value,
- deduce_quat<A> >::type
- inverse( A const & a )
- {
- typedef typename deduce_quat<A>::type R;
- typedef typename quat_traits<A>::scalar_type TA;
- TA aa = quat_traits<A>::template read_element<0>(a);
- TA ab = quat_traits<A>::template read_element<1>(a);
- TA ac = quat_traits<A>::template read_element<2>(a);
- TA ad = quat_traits<A>::template read_element<3>(a);
- TA m2 = ab*ab + ac*ac + ad*ad + aa*aa;
- if( m2==scalar_traits<TA>::value(0) )
- BOOST_QVM_THROW_EXCEPTION(zero_magnitude_error());
- TA rm=scalar_traits<TA>::value(1)/m2;
- R r;
- quat_traits<R>::template write_element<0>(r) = aa*rm;
- quat_traits<R>::template write_element<1>(r) = -ab*rm;
- quat_traits<R>::template write_element<2>(r) = -ac*rm;
- quat_traits<R>::template write_element<3>(r) = -ad*rm;
- return r;
- }
- template <class A>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- typename quat_traits<A>::scalar_type>::type
- mag_sqr( A const & a )
- {
- typedef typename quat_traits<A>::scalar_type T;
- T x=quat_traits<A>::template read_element<0>(a);
- T y=quat_traits<A>::template read_element<1>(a);
- T z=quat_traits<A>::template read_element<2>(a);
- T w=quat_traits<A>::template read_element<3>(a);
- return x*x+y*y+z*z+w*w;
- }
- template <class A>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- typename quat_traits<A>::scalar_type>::type
- mag( A const & a )
- {
- typedef typename quat_traits<A>::scalar_type T;
- T x=quat_traits<A>::template read_element<0>(a);
- T y=quat_traits<A>::template read_element<1>(a);
- T z=quat_traits<A>::template read_element<2>(a);
- T w=quat_traits<A>::template read_element<3>(a);
- return sqrt<T>(x*x+y*y+z*z+w*w);
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if<
- msvc_parse_bug_workaround::quats<A,B>,
- A &>::type
- operator-=( A & a, B const & b )
- {
- quat_traits<A>::template write_element<0>(a)-=quat_traits<B>::template read_element<0>(b);
- quat_traits<A>::template write_element<1>(a)-=quat_traits<B>::template read_element<1>(b);
- quat_traits<A>::template write_element<2>(a)-=quat_traits<B>::template read_element<2>(b);
- quat_traits<A>::template write_element<3>(a)-=quat_traits<B>::template read_element<3>(b);
- return a;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value && is_quat<B>::value,
- deduce_quat2<A,B> >::type
- operator-( A const & a, B const & b )
- {
- typedef typename deduce_quat2<A,B>::type R;
- R r;
- quat_traits<R>::template write_element<0>(r)=quat_traits<A>::template read_element<0>(a)-quat_traits<B>::template read_element<0>(b);
- quat_traits<R>::template write_element<1>(r)=quat_traits<A>::template read_element<1>(a)-quat_traits<B>::template read_element<1>(b);
- quat_traits<R>::template write_element<2>(r)=quat_traits<A>::template read_element<2>(a)-quat_traits<B>::template read_element<2>(b);
- quat_traits<R>::template write_element<3>(r)=quat_traits<A>::template read_element<3>(a)-quat_traits<B>::template read_element<3>(b);
- return r;
- }
- template <class A>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value,
- deduce_quat<A> >::type
- operator-( A const & a )
- {
- typedef typename deduce_quat<A>::type R;
- R r;
- quat_traits<R>::template write_element<0>(r)=-quat_traits<A>::template read_element<0>(a);
- quat_traits<R>::template write_element<1>(r)=-quat_traits<A>::template read_element<1>(a);
- quat_traits<R>::template write_element<2>(r)=-quat_traits<A>::template read_element<2>(a);
- quat_traits<R>::template write_element<3>(r)=-quat_traits<A>::template read_element<3>(a);
- return r;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if<
- msvc_parse_bug_workaround::quats<A,B>,
- A &>::type
- operator*=( A & a, B const & b )
- {
- typedef typename quat_traits<A>::scalar_type TA;
- typedef typename quat_traits<B>::scalar_type TB;
- TA const aa=quat_traits<A>::template read_element<0>(a);
- TA const ab=quat_traits<A>::template read_element<1>(a);
- TA const ac=quat_traits<A>::template read_element<2>(a);
- TA const ad=quat_traits<A>::template read_element<3>(a);
- TB const ba=quat_traits<B>::template read_element<0>(b);
- TB const bb=quat_traits<B>::template read_element<1>(b);
- TB const bc=quat_traits<B>::template read_element<2>(b);
- TB const bd=quat_traits<B>::template read_element<3>(b);
- quat_traits<A>::template write_element<0>(a) = aa*ba - ab*bb - ac*bc - ad*bd;
- quat_traits<A>::template write_element<1>(a) = aa*bb + ab*ba + ac*bd - ad*bc;
- quat_traits<A>::template write_element<2>(a) = aa*bc + ac*ba + ad*bb - ab*bd;
- quat_traits<A>::template write_element<3>(a) = aa*bd + ad*ba + ab*bc - ac*bb;
- return a;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value && is_scalar<B>::value,
- A &>::type
- operator*=( A & a, B b )
- {
- quat_traits<A>::template write_element<0>(a)*=b;
- quat_traits<A>::template write_element<1>(a)*=b;
- quat_traits<A>::template write_element<2>(a)*=b;
- quat_traits<A>::template write_element<3>(a)*=b;
- return a;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value && is_quat<B>::value,
- deduce_quat2<A,B> >::type
- operator*( A const & a, B const & b )
- {
- typedef typename deduce_quat2<A,B>::type R;
- typedef typename quat_traits<A>::scalar_type TA;
- typedef typename quat_traits<B>::scalar_type TB;
- TA const aa=quat_traits<A>::template read_element<0>(a);
- TA const ab=quat_traits<A>::template read_element<1>(a);
- TA const ac=quat_traits<A>::template read_element<2>(a);
- TA const ad=quat_traits<A>::template read_element<3>(a);
- TB const ba=quat_traits<B>::template read_element<0>(b);
- TB const bb=quat_traits<B>::template read_element<1>(b);
- TB const bc=quat_traits<B>::template read_element<2>(b);
- TB const bd=quat_traits<B>::template read_element<3>(b);
- R r;
- quat_traits<R>::template write_element<0>(r) = aa*ba - ab*bb - ac*bc - ad*bd;
- quat_traits<R>::template write_element<1>(r) = aa*bb + ab*ba + ac*bd - ad*bc;
- quat_traits<R>::template write_element<2>(r) = aa*bc + ac*ba + ad*bb - ab*bd;
- quat_traits<R>::template write_element<3>(r) = aa*bd + ad*ba + ab*bc - ac*bb;
- return r;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value && is_scalar<B>::value,
- deduce_quat<A> >::type
- operator*( A const & a, B b )
- {
- typedef typename deduce_quat<A>::type R;
- R r;
- quat_traits<R>::template write_element<0>(r)=quat_traits<A>::template read_element<0>(a)*b;
- quat_traits<R>::template write_element<1>(r)=quat_traits<A>::template read_element<1>(a)*b;
- quat_traits<R>::template write_element<2>(r)=quat_traits<A>::template read_element<2>(a)*b;
- quat_traits<R>::template write_element<3>(r)=quat_traits<A>::template read_element<3>(a)*b;
- return r;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value && is_quat<B>::value,
- bool>::type
- operator!=( A const & a, B const & b )
- {
- return
- quat_traits<A>::template read_element<0>(a)!=quat_traits<B>::template read_element<0>(b) ||
- quat_traits<A>::template read_element<1>(a)!=quat_traits<B>::template read_element<1>(b) ||
- quat_traits<A>::template read_element<2>(a)!=quat_traits<B>::template read_element<2>(b) ||
- quat_traits<A>::template read_element<3>(a)!=quat_traits<B>::template read_element<3>(b);
- }
- template <class A>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value,
- deduce_quat<A> >::type
- normalized( A const & a )
- {
- typedef typename quat_traits<A>::scalar_type T;
- T const a0=quat_traits<A>::template read_element<0>(a);
- T const a1=quat_traits<A>::template read_element<1>(a);
- T const a2=quat_traits<A>::template read_element<2>(a);
- T const a3=quat_traits<A>::template read_element<3>(a);
- T const m2=a0*a0+a1*a1+a2*a2+a3*a3;
- if( m2==scalar_traits<typename quat_traits<A>::scalar_type>::value(0) )
- BOOST_QVM_THROW_EXCEPTION(zero_magnitude_error());
- T const rm=scalar_traits<T>::value(1)/sqrt<T>(m2);
- typedef typename deduce_quat<A>::type R;
- R r;
- quat_traits<R>::template write_element<0>(r)=a0*rm;
- quat_traits<R>::template write_element<1>(r)=a1*rm;
- quat_traits<R>::template write_element<2>(r)=a2*rm;
- quat_traits<R>::template write_element<3>(r)=a3*rm;
- return r;
- }
- template <class A>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- void>::type
- normalize( A & a )
- {
- typedef typename quat_traits<A>::scalar_type T;
- T const a0=quat_traits<A>::template read_element<0>(a);
- T const a1=quat_traits<A>::template read_element<1>(a);
- T const a2=quat_traits<A>::template read_element<2>(a);
- T const a3=quat_traits<A>::template read_element<3>(a);
- T const m2=a0*a0+a1*a1+a2*a2+a3*a3;
- if( m2==scalar_traits<typename quat_traits<A>::scalar_type>::value(0) )
- BOOST_QVM_THROW_EXCEPTION(zero_magnitude_error());
- T const rm=scalar_traits<T>::value(1)/sqrt<T>(m2);
- quat_traits<A>::template write_element<0>(a)*=rm;
- quat_traits<A>::template write_element<1>(a)*=rm;
- quat_traits<A>::template write_element<2>(a)*=rm;
- quat_traits<A>::template write_element<3>(a)*=rm;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if<
- msvc_parse_bug_workaround::quats<A,B>,
- A &>::type
- operator+=( A & a, B const & b )
- {
- quat_traits<A>::template write_element<0>(a)+=quat_traits<B>::template read_element<0>(b);
- quat_traits<A>::template write_element<1>(a)+=quat_traits<B>::template read_element<1>(b);
- quat_traits<A>::template write_element<2>(a)+=quat_traits<B>::template read_element<2>(b);
- quat_traits<A>::template write_element<3>(a)+=quat_traits<B>::template read_element<3>(b);
- return a;
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value && is_quat<B>::value,
- deduce_quat2<A,B> >::type
- operator+( A const & a, B const & b )
- {
- typedef typename deduce_quat2<A,B>::type R;
- R r;
- quat_traits<R>::template write_element<0>(r)=quat_traits<A>::template read_element<0>(a)+quat_traits<B>::template read_element<0>(b);
- quat_traits<R>::template write_element<1>(r)=quat_traits<A>::template read_element<1>(a)+quat_traits<B>::template read_element<1>(b);
- quat_traits<R>::template write_element<2>(r)=quat_traits<A>::template read_element<2>(a)+quat_traits<B>::template read_element<2>(b);
- quat_traits<R>::template write_element<3>(r)=quat_traits<A>::template read_element<3>(a)+quat_traits<B>::template read_element<3>(b);
- return r;
- }
- template <class A,class B,class C>
- BOOST_QVM_INLINE_OPERATIONS
- typename lazy_enable_if_c<
- is_quat<A>::value && is_quat<B>::value && is_scalar<C>::value,
- deduce_quat2<A,B> >::type
- slerp( A const & a, B const & b, C t )
- {
- typedef typename deduce_quat2<A,B>::type R;
- typedef typename quat_traits<R>::scalar_type TR;
- TR const one = scalar_traits<TR>::value(1);
- TR dp = dot(a,b);
- TR sc=one;
- if( dp < one )
- {
- TR const theta = acos<TR>(dp);
- TR const invsintheta = one/sin<TR>(theta);
- TR const scale = sin<TR>(theta*(one-t)) * invsintheta;
- TR const invscale = sin<TR>(theta*t) * invsintheta * sc;
- return a*scale + b*invscale;
- }
- else
- return normalized(a+(b-a)*t);
- }
- ////////////////////////////////////////////////
- namespace
- qvm_detail
- {
- template <class T>
- class
- qref_
- {
- qref_( qref_ const & );
- qref_ & operator=( qref_ const & );
- ~qref_();
- public:
- template <class R>
- BOOST_QVM_INLINE_TRIVIAL
- qref_ &
- operator=( R const & x )
- {
- assign(*this,x);
- return *this;
- }
- template <class R>
- BOOST_QVM_INLINE_TRIVIAL
- operator R() const
- {
- R r;
- assign(r,*this);
- return r;
- }
- };
- }
- template <class Q>
- struct quat_traits;
- template <class Q>
- struct
- quat_traits< qvm_detail::qref_<Q> >
- {
- typedef typename quat_traits<Q>::scalar_type scalar_type;
- typedef qvm_detail::qref_<Q> this_quaternion;
- template <int I>
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element( this_quaternion const & x )
- {
- BOOST_QVM_STATIC_ASSERT(I>=0);
- BOOST_QVM_STATIC_ASSERT(I<4);
- return quat_traits<Q>::template read_element<I>(reinterpret_cast<Q const &>(x));
- }
- template <int I>
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type &
- write_element( this_quaternion & x )
- {
- BOOST_QVM_STATIC_ASSERT(I>=0);
- BOOST_QVM_STATIC_ASSERT(I<4);
- return quat_traits<Q>::template write_element<I>(reinterpret_cast<Q &>(x));
- }
- };
- template <class Q>
- struct
- deduce_quat< qvm_detail::qref_<Q> >
- {
- typedef quat<typename quat_traits<Q>::scalar_type> type;
- };
- template <class Q>
- BOOST_QVM_INLINE_TRIVIAL
- typename enable_if_c<
- is_quat<Q>::value,
- qvm_detail::qref_<Q> const &>::type
- qref( Q const & a )
- {
- return reinterpret_cast<qvm_detail::qref_<Q> const &>(a);
- }
- template <class Q>
- BOOST_QVM_INLINE_TRIVIAL
- typename enable_if_c<
- is_quat<Q>::value,
- qvm_detail::qref_<Q> &>::type
- qref( Q & a )
- {
- return reinterpret_cast<qvm_detail::qref_<Q> &>(a);
- }
- ////////////////////////////////////////////////
- namespace
- qvm_detail
- {
- template <class T>
- class
- zero_q_
- {
- zero_q_( zero_q_ const & );
- zero_q_ & operator=( zero_q_ const & );
- ~zero_q_();
- public:
- template <class R>
- BOOST_QVM_INLINE_TRIVIAL
- operator R() const
- {
- R r;
- assign(r,*this);
- return r;
- }
- };
- }
- template <class T>
- struct
- quat_traits< qvm_detail::zero_q_<T> >
- {
- typedef qvm_detail::zero_q_<T> this_quaternion;
- typedef T scalar_type;
- template <int I>
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element( this_quaternion const & x )
- {
- BOOST_QVM_STATIC_ASSERT(I>=0);
- BOOST_QVM_STATIC_ASSERT(I<4);
- return scalar_traits<scalar_type>::value(0);
- }
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element_idx( int i, this_quaternion const & x )
- {
- BOOST_QVM_ASSERT(i>=0);
- BOOST_QVM_ASSERT(i<4);
- return scalar_traits<scalar_type>::value(0);
- }
- };
- template <class T>
- BOOST_QVM_INLINE_TRIVIAL
- qvm_detail::zero_q_<T> const &
- zero_quat()
- {
- return *(qvm_detail::zero_q_<T> const *)qvm_detail::get_valid_ptr_quat_operations();
- }
- template <class A>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- void>::type
- set_zero( A & a )
- {
- typedef typename quat_traits<A>::scalar_type T;
- T const zero=scalar_traits<T>::value(0);
- quat_traits<A>::template write_element<0>(a) = zero;
- quat_traits<A>::template write_element<1>(a) = zero;
- quat_traits<A>::template write_element<2>(a) = zero;
- quat_traits<A>::template write_element<3>(a) = zero;
- }
- ////////////////////////////////////////////////
- namespace
- qvm_detail
- {
- template <class V>
- struct
- rot_quat_
- {
- typedef typename vec_traits<V>::scalar_type scalar_type;
- scalar_type a[4];
- template <class Angle>
- BOOST_QVM_INLINE
- rot_quat_( V const & axis, Angle angle )
- {
- scalar_type const x=vec_traits<V>::template read_element<0>(axis);
- scalar_type const y=vec_traits<V>::template read_element<1>(axis);
- scalar_type const z=vec_traits<V>::template read_element<2>(axis);
- scalar_type const m2=x*x+y*y+z*z;
- if( m2==scalar_traits<scalar_type>::value(0) )
- BOOST_QVM_THROW_EXCEPTION(zero_magnitude_error());
- scalar_type const rm=scalar_traits<scalar_type>::value(1)/sqrt<scalar_type>(m2);
- angle/=2;
- scalar_type const s=sin<Angle>(angle);
- a[0] = cos<Angle>(angle);
- a[1] = rm*x*s;
- a[2] = rm*y*s;
- a[3] = rm*z*s;
- }
- template <class R>
- BOOST_QVM_INLINE_TRIVIAL
- operator R() const
- {
- R r;
- assign(r,*this);
- return r;
- }
- };
- }
- template <class V>
- struct
- quat_traits< qvm_detail::rot_quat_<V> >
- {
- typedef qvm_detail::rot_quat_<V> this_quaternion;
- typedef typename this_quaternion::scalar_type scalar_type;
- template <int I>
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element( this_quaternion const & x )
- {
- BOOST_QVM_STATIC_ASSERT(I>=0);
- BOOST_QVM_STATIC_ASSERT(I<4);
- return x.a[I];
- }
- };
- template <class V>
- struct
- deduce_quat< qvm_detail::rot_quat_<V> >
- {
- typedef quat<typename vec_traits<V>::scalar_type> type;
- };
- template <class A,class Angle>
- BOOST_QVM_INLINE
- typename enable_if_c<
- is_vec<A>::value && vec_traits<A>::dim==3,
- qvm_detail::rot_quat_<A> >::type
- rot_quat( A const & axis, Angle angle )
- {
- return qvm_detail::rot_quat_<A>(axis,angle);
- }
- template <class A,class B,class Angle>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value &&
- is_vec<B>::value && vec_traits<B>::dim==3,
- void>::type
- set_rot( A & a, B const & axis, Angle angle )
- {
- assign(a,rot_quat(axis,angle));
- }
- template <class A,class B,class Angle>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value &&
- is_vec<B>::value && vec_traits<B>::dim==3,
- void>::type
- rotate( A & a, B const & axis, Angle angle )
- {
- a *= rot_quat(axis,angle);
- }
- ////////////////////////////////////////////////
- namespace
- qvm_detail
- {
- template <class T>
- struct
- rotx_quat_
- {
- BOOST_QVM_INLINE_TRIVIAL
- rotx_quat_()
- {
- }
- template <class R>
- BOOST_QVM_INLINE_TRIVIAL
- operator R() const
- {
- R r;
- assign(r,*this);
- return r;
- }
- private:
- rotx_quat_( rotx_quat_ const & );
- rotx_quat_ & operator=( rotx_quat_ const & );
- ~rotx_quat_();
- };
- template <int I>
- struct
- rotx_q_get
- {
- template <class T>
- static
- BOOST_QVM_INLINE_CRITICAL
- T
- get( T const & )
- {
- return scalar_traits<T>::value(0);
- }
- };
- template <>
- struct
- rotx_q_get<1>
- {
- template <class T>
- static
- BOOST_QVM_INLINE_CRITICAL
- T
- get( T const & angle )
- {
- return sin<T>(angle/2);
- }
- };
- template <>
- struct
- rotx_q_get<0>
- {
- template <class T>
- static
- BOOST_QVM_INLINE_CRITICAL
- T
- get( T const & angle )
- {
- return cos<T>(angle/2);
- }
- };
- }
- template <class Angle>
- struct
- quat_traits< qvm_detail::rotx_quat_<Angle> >
- {
- typedef qvm_detail::rotx_quat_<Angle> this_quaternion;
- typedef Angle scalar_type;
- template <int I>
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element( this_quaternion const & x )
- {
- BOOST_QVM_STATIC_ASSERT(I>=0);
- BOOST_QVM_STATIC_ASSERT(I<4);
- return qvm_detail::rotx_q_get<I>::get(reinterpret_cast<Angle const &>(x));
- }
- };
- template <class Angle>
- struct
- deduce_quat< qvm_detail::rotx_quat_<Angle> >
- {
- typedef quat<Angle> type;
- };
- template <class Angle>
- struct
- deduce_quat2< qvm_detail::rotx_quat_<Angle>, qvm_detail::rotx_quat_<Angle> >
- {
- typedef quat<Angle> type;
- };
- template <class Angle>
- BOOST_QVM_INLINE_TRIVIAL
- qvm_detail::rotx_quat_<Angle> const &
- rotx_quat( Angle const & angle )
- {
- return reinterpret_cast<qvm_detail::rotx_quat_<Angle> const &>(angle);
- }
- template <class A,class Angle>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- void>::type
- set_rotx( A & a, Angle angle )
- {
- assign(a,rotx_quat(angle));
- }
- template <class A,class Angle>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- void>::type
- rotate_x( A & a, Angle angle )
- {
- a *= rotx_quat(angle);
- }
- ////////////////////////////////////////////////
- namespace
- qvm_detail
- {
- template <class T>
- struct
- roty_quat_
- {
- BOOST_QVM_INLINE_TRIVIAL
- roty_quat_()
- {
- }
- template <class R>
- BOOST_QVM_INLINE_TRIVIAL
- operator R() const
- {
- R r;
- assign(r,*this);
- return r;
- }
- private:
- roty_quat_( roty_quat_ const & );
- roty_quat_ & operator=( roty_quat_ const & );
- ~roty_quat_();
- };
- template <int I>
- struct
- roty_q_get
- {
- template <class T>
- static
- BOOST_QVM_INLINE_CRITICAL
- T
- get( T const & )
- {
- return scalar_traits<T>::value(0);
- }
- };
- template <>
- struct
- roty_q_get<2>
- {
- template <class T>
- static
- BOOST_QVM_INLINE_CRITICAL
- T
- get( T const & angle )
- {
- return sin<T>(angle/2);
- }
- };
- template <>
- struct
- roty_q_get<0>
- {
- template <class T>
- static
- BOOST_QVM_INLINE_CRITICAL
- T
- get( T const & angle )
- {
- return cos<T>(angle/2);
- }
- };
- }
- template <class Angle>
- struct
- quat_traits< qvm_detail::roty_quat_<Angle> >
- {
- typedef qvm_detail::roty_quat_<Angle> this_quaternion;
- typedef Angle scalar_type;
- template <int I>
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element( this_quaternion const & x )
- {
- BOOST_QVM_STATIC_ASSERT(I>=0);
- BOOST_QVM_STATIC_ASSERT(I<4);
- return qvm_detail::roty_q_get<I>::get(reinterpret_cast<Angle const &>(x));
- }
- };
- template <class Angle>
- struct
- deduce_quat< qvm_detail::roty_quat_<Angle> >
- {
- typedef quat<Angle> type;
- };
- template <class Angle>
- struct
- deduce_quat2< qvm_detail::roty_quat_<Angle>, qvm_detail::roty_quat_<Angle> >
- {
- typedef quat<Angle> type;
- };
- template <class Angle>
- BOOST_QVM_INLINE_TRIVIAL
- qvm_detail::roty_quat_<Angle> const &
- roty_quat( Angle const & angle )
- {
- return reinterpret_cast<qvm_detail::roty_quat_<Angle> const &>(angle);
- }
- template <class A,class Angle>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- void>::type
- set_roty( A & a, Angle angle )
- {
- assign(a,roty_quat(angle));
- }
- template <class A,class Angle>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- void>::type
- rotate_y( A & a, Angle angle )
- {
- a *= roty_quat(angle);
- }
- ////////////////////////////////////////////////
- namespace
- qvm_detail
- {
- template <class T>
- struct
- rotz_quat_
- {
- BOOST_QVM_INLINE_TRIVIAL
- rotz_quat_()
- {
- }
- template <class R>
- BOOST_QVM_INLINE_TRIVIAL
- operator R() const
- {
- R r;
- assign(r,*this);
- return r;
- }
- private:
- rotz_quat_( rotz_quat_ const & );
- rotz_quat_ & operator=( rotz_quat_ const & );
- ~rotz_quat_();
- };
- template <int I>
- struct
- rotz_q_get
- {
- template <class T>
- static
- BOOST_QVM_INLINE_CRITICAL
- T
- get( T const & )
- {
- return scalar_traits<T>::value(0);
- }
- };
- template <>
- struct
- rotz_q_get<3>
- {
- template <class T>
- static
- BOOST_QVM_INLINE_CRITICAL
- T
- get( T const & angle )
- {
- return sin<T>(angle/2);
- }
- };
- template <>
- struct
- rotz_q_get<0>
- {
- template <class T>
- static
- BOOST_QVM_INLINE_CRITICAL
- T
- get( T const & angle )
- {
- return cos<T>(angle/2);
- }
- };
- }
- template <class Angle>
- struct
- quat_traits< qvm_detail::rotz_quat_<Angle> >
- {
- typedef qvm_detail::rotz_quat_<Angle> this_quaternion;
- typedef Angle scalar_type;
- template <int I>
- static
- BOOST_QVM_INLINE_CRITICAL
- scalar_type
- read_element( this_quaternion const & x )
- {
- BOOST_QVM_STATIC_ASSERT(I>=0);
- BOOST_QVM_STATIC_ASSERT(I<4);
- return qvm_detail::rotz_q_get<I>::get(reinterpret_cast<Angle const &>(x));
- }
- };
- template <class Angle>
- struct
- deduce_quat< qvm_detail::rotz_quat_<Angle> >
- {
- typedef quat<Angle> type;
- };
- template <class Angle>
- struct
- deduce_quat2< qvm_detail::rotz_quat_<Angle>, qvm_detail::rotz_quat_<Angle> >
- {
- typedef quat<Angle> type;
- };
- template <class Angle>
- BOOST_QVM_INLINE_TRIVIAL
- qvm_detail::rotz_quat_<Angle> const &
- rotz_quat( Angle const & angle )
- {
- return reinterpret_cast<qvm_detail::rotz_quat_<Angle> const &>(angle);
- }
- template <class A,class Angle>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- void>::type
- set_rotz( A & a, Angle angle )
- {
- assign(a,rotz_quat(angle));
- }
- template <class A,class Angle>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value,
- void>::type
- rotate_z( A & a, Angle angle )
- {
- a *= rotz_quat(angle);
- }
- template <class A,class B>
- BOOST_QVM_INLINE_OPERATIONS
- typename enable_if_c<
- is_quat<A>::value && is_vec<B>::value && vec_traits<B>::dim==3,
- typename quat_traits<A>::scalar_type>::type
- axis_angle( A const & a, B & b )
- {
- typedef typename quat_traits<A>::scalar_type T;
- T a0=quat_traits<A>::template read_element<0>(a);
- T a1=quat_traits<A>::template read_element<1>(a);
- T a2=quat_traits<A>::template read_element<2>(a);
- T a3=quat_traits<A>::template read_element<3>(a);
- if( a0>1 )
- {
- T const m2=a0*a0+a1*a1+a2*a2+a3*a3;
- if( m2==scalar_traits<T>::value(0) )
- BOOST_QVM_THROW_EXCEPTION(zero_magnitude_error());
- T const s=sqrt<T>(m2);
- a0/=s;
- a1/=s;
- a2/=s;
- a3/=s;
- }
- if( T s=sqrt<T>(1-a0*a0) )
- {
- vec_traits<B>::template write_element<0>(b) = a1/s;
- vec_traits<B>::template write_element<1>(b) = a2/s;
- vec_traits<B>::template write_element<2>(b) = a3/s;
- }
- else
- {
- typedef typename vec_traits<B>::scalar_type U;
- vec_traits<B>::template write_element<0>(b) = scalar_traits<U>::value(1);
- vec_traits<B>::template write_element<1>(b) = vec_traits<B>::template write_element<2>(b) = scalar_traits<U>::value(0);
- }
- return scalar_traits<T>::value(2) * qvm::acos(a0);
- }
- ////////////////////////////////////////////////
- namespace
- sfinae
- {
- using ::boost::qvm::assign;
- using ::boost::qvm::cmp;
- using ::boost::qvm::convert_to;
- using ::boost::qvm::conjugate;
- using ::boost::qvm::set_identity;
- using ::boost::qvm::set_zero;
- using ::boost::qvm::scalar_cast;
- using ::boost::qvm::operator/=;
- using ::boost::qvm::operator/;
- using ::boost::qvm::dot;
- using ::boost::qvm::operator==;
- using ::boost::qvm::inverse;
- using ::boost::qvm::mag_sqr;
- using ::boost::qvm::mag;
- using ::boost::qvm::slerp;
- using ::boost::qvm::operator-=;
- using ::boost::qvm::operator-;
- using ::boost::qvm::operator*=;
- using ::boost::qvm::operator*;
- using ::boost::qvm::operator!=;
- using ::boost::qvm::normalized;
- using ::boost::qvm::normalize;
- using ::boost::qvm::operator+=;
- using ::boost::qvm::operator+;
- using ::boost::qvm::qref;
- using ::boost::qvm::rot_quat;
- using ::boost::qvm::set_rot;
- using ::boost::qvm::rotate;
- using ::boost::qvm::rotx_quat;
- using ::boost::qvm::set_rotx;
- using ::boost::qvm::rotate_x;
- using ::boost::qvm::roty_quat;
- using ::boost::qvm::set_roty;
- using ::boost::qvm::rotate_y;
- using ::boost::qvm::rotz_quat;
- using ::boost::qvm::set_rotz;
- using ::boost::qvm::rotate_z;
- }
- ////////////////////////////////////////////////
- }
- }
- #endif
|