43 lines
1.3 KiB
Text
43 lines
1.3 KiB
Text
|
#include "../geometric.hpp"
|
||
|
|
#include "../exponential.hpp"
|
||
|
|
#include "../ext/vector_relational.hpp"
|
||
|
|
|
||
|
|
namespace glm
|
||
|
|
{
|
||
|
|
// -- Operations --
|
||
|
|
|
||
|
|
template<typename T, qualifier Q>
|
||
|
|
GLM_FUNC_QUALIFIER T dot(qua<T, Q> const& x, qua<T, Q> const& y)
|
||
|
|
{
|
||
|
|
GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559, "'dot' accepts only floating-point inputs");
|
||
|
|
return detail::compute_dot<qua<T, Q>, T, detail::is_aligned<Q>::value>::call(x, y);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T, qualifier Q>
|
||
|
|
GLM_FUNC_QUALIFIER T length(qua<T, Q> const& q)
|
||
|
|
{
|
||
|
|
return glm::sqrt(dot(q, q));
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T, qualifier Q>
|
||
|
|
GLM_FUNC_QUALIFIER qua<T, Q> normalize(qua<T, Q> const& q)
|
||
|
|
{
|
||
|
|
T len = length(q);
|
||
|
|
if(len <= static_cast<T>(0)) // Problem
|
||
|
|
return qua<T, Q>(static_cast<T>(1), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0));
|
||
|
|
T oneOverLen = static_cast<T>(1) / len;
|
||
|
|
return qua<T, Q>(q.w * oneOverLen, q.x * oneOverLen, q.y * oneOverLen, q.z * oneOverLen);
|
||
|
|
}
|
||
|
|
|
||
|
|
template<typename T, qualifier Q>
|
||
|
|
GLM_FUNC_QUALIFIER qua<T, Q> cross(qua<T, Q> const& q1, qua<T, Q> const& q2)
|
||
|
|
{
|
||
|
|
return qua<T, Q>(
|
||
|
|
q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z,
|
||
|
|
q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y,
|
||
|
|
q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z,
|
||
|
|
q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x);
|
||
|
|
}
|
||
|
|
}//namespace glm
|
||
|
|
|