#include "../trigonometric.hpp" #include "../geometric.hpp" #include "../exponential.hpp" #include "epsilon.hpp" #include <limits> namespace glm { template<typename T, qualifier Q> GLM_FUNC_QUALIFIER vec<3, T, Q> eulerAngles(qua<T, Q> const& x) { return vec<3, T, Q>(pitch(x), yaw(x), roll(x)); } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER T roll(qua<T, Q> const& q) { return static_cast<T>(atan(static_cast<T>(2) * (q.x * q.y + q.w * q.z), q.w * q.w + q.x * q.x - q.y * q.y - q.z * q.z)); } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER T pitch(qua<T, Q> const& q) { //return T(atan(T(2) * (q.y * q.z + q.w * q.x), q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z)); T const y = static_cast<T>(2) * (q.y * q.z + q.w * q.x); T const x = q.w * q.w - q.x * q.x - q.y * q.y + q.z * q.z; if(all(equal(vec<2, T, Q>(x, y), vec<2, T, Q>(0), epsilon<T>()))) //avoid atan2(0,0) - handle singularity - Matiis return static_cast<T>(static_cast<T>(2) * atan(q.x, q.w)); return static_cast<T>(atan(y, x)); } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER T yaw(qua<T, Q> const& q) { return asin(clamp(static_cast<T>(-2) * (q.x * q.z - q.w * q.y), static_cast<T>(-1), static_cast<T>(1))); } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER mat<3, 3, T, Q> mat3_cast(qua<T, Q> const& q) { mat<3, 3, T, Q> Result(T(1)); T qxx(q.x * q.x); T qyy(q.y * q.y); T qzz(q.z * q.z); T qxz(q.x * q.z); T qxy(q.x * q.y); T qyz(q.y * q.z); T qwx(q.w * q.x); T qwy(q.w * q.y); T qwz(q.w * q.z); Result[0][0] = T(1) - T(2) * (qyy + qzz); Result[0][1] = T(2) * (qxy + qwz); Result[0][2] = T(2) * (qxz - qwy); Result[1][0] = T(2) * (qxy - qwz); Result[1][1] = T(1) - T(2) * (qxx + qzz); Result[1][2] = T(2) * (qyz + qwx); Result[2][0] = T(2) * (qxz + qwy); Result[2][1] = T(2) * (qyz - qwx); Result[2][2] = T(1) - T(2) * (qxx + qyy); return Result; } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER mat<4, 4, T, Q> mat4_cast(qua<T, Q> const& q) { return mat<4, 4, T, Q>(mat3_cast(q)); } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER qua<T, Q> quat_cast(mat<3, 3, T, Q> const& m) { T fourXSquaredMinus1 = m[0][0] - m[1][1] - m[2][2]; T fourYSquaredMinus1 = m[1][1] - m[0][0] - m[2][2]; T fourZSquaredMinus1 = m[2][2] - m[0][0] - m[1][1]; T fourWSquaredMinus1 = m[0][0] + m[1][1] + m[2][2]; int biggestIndex = 0; T fourBiggestSquaredMinus1 = fourWSquaredMinus1; if(fourXSquaredMinus1 > fourBiggestSquaredMinus1) { fourBiggestSquaredMinus1 = fourXSquaredMinus1; biggestIndex = 1; } if(fourYSquaredMinus1 > fourBiggestSquaredMinus1) { fourBiggestSquaredMinus1 = fourYSquaredMinus1; biggestIndex = 2; } if(fourZSquaredMinus1 > fourBiggestSquaredMinus1) { fourBiggestSquaredMinus1 = fourZSquaredMinus1; biggestIndex = 3; } T biggestVal = sqrt(fourBiggestSquaredMinus1 + static_cast<T>(1)) * static_cast<T>(0.5); T mult = static_cast<T>(0.25) / biggestVal; switch(biggestIndex) { case 0: return qua<T, Q>(biggestVal, (m[1][2] - m[2][1]) * mult, (m[2][0] - m[0][2]) * mult, (m[0][1] - m[1][0]) * mult); case 1: return qua<T, Q>((m[1][2] - m[2][1]) * mult, biggestVal, (m[0][1] + m[1][0]) * mult, (m[2][0] + m[0][2]) * mult); case 2: return qua<T, Q>((m[2][0] - m[0][2]) * mult, (m[0][1] + m[1][0]) * mult, biggestVal, (m[1][2] + m[2][1]) * mult); case 3: return qua<T, Q>((m[0][1] - m[1][0]) * mult, (m[2][0] + m[0][2]) * mult, (m[1][2] + m[2][1]) * mult, biggestVal); default: // Silence a -Wswitch-default warning in GCC. Should never actually get here. Assert is just for sanity. assert(false); return qua<T, Q>(1, 0, 0, 0); } } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER qua<T, Q> quat_cast(mat<4, 4, T, Q> const& m4) { return quat_cast(mat<3, 3, T, Q>(m4)); } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER vec<4, bool, Q> lessThan(qua<T, Q> const& x, qua<T, Q> const& y) { vec<4, bool, Q> Result; for(length_t i = 0; i < x.length(); ++i) Result[i] = x[i] < y[i]; return Result; } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER vec<4, bool, Q> lessThanEqual(qua<T, Q> const& x, qua<T, Q> const& y) { vec<4, bool, Q> Result; for(length_t i = 0; i < x.length(); ++i) Result[i] = x[i] <= y[i]; return Result; } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER vec<4, bool, Q> greaterThan(qua<T, Q> const& x, qua<T, Q> const& y) { vec<4, bool, Q> Result; for(length_t i = 0; i < x.length(); ++i) Result[i] = x[i] > y[i]; return Result; } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER vec<4, bool, Q> greaterThanEqual(qua<T, Q> const& x, qua<T, Q> const& y) { vec<4, bool, Q> Result; for(length_t i = 0; i < x.length(); ++i) Result[i] = x[i] >= y[i]; return Result; } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER qua<T, Q> quatLookAt(vec<3, T, Q> const& direction, vec<3, T, Q> const& up) { # if GLM_CONFIG_CLIP_CONTROL & GLM_CLIP_CONTROL_LH_BIT return quatLookAtLH(direction, up); # else return quatLookAtRH(direction, up); # endif } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER qua<T, Q> quatLookAtRH(vec<3, T, Q> const& direction, vec<3, T, Q> const& up) { mat<3, 3, T, Q> Result; Result[2] = -direction; vec<3, T, Q> const& Right = cross(up, Result[2]); Result[0] = Right * inversesqrt(max(static_cast<T>(0.00001), dot(Right, Right))); Result[1] = cross(Result[2], Result[0]); return quat_cast(Result); } template<typename T, qualifier Q> GLM_FUNC_QUALIFIER qua<T, Q> quatLookAtLH(vec<3, T, Q> const& direction, vec<3, T, Q> const& up) { mat<3, 3, T, Q> Result; Result[2] = direction; vec<3, T, Q> const& Right = cross(up, Result[2]); Result[0] = Right * inversesqrt(max(static_cast<T>(0.00001), dot(Right, Right))); Result[1] = cross(Result[2], Result[0]); return quat_cast(Result); } }//namespace glm #if GLM_CONFIG_SIMD == GLM_ENABLE # include "quaternion_simd.inl" #endif