35 lines
929 B
C++
35 lines
929 B
C++
#include "scalar_constants.hpp"
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namespace glm
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{
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER T angle(qua<T, Q> const& x)
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{
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if (abs(x.w) > cos_one_over_two<T>())
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{
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return asin(sqrt(x.x * x.x + x.y * x.y + x.z * x.z)) * static_cast<T>(2);
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}
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return acos(x.w) * static_cast<T>(2);
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}
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER vec<3, T, Q> axis(qua<T, Q> const& x)
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{
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T const tmp1 = static_cast<T>(1) - x.w * x.w;
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if(tmp1 <= static_cast<T>(0))
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return vec<3, T, Q>(0, 0, 1);
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T const tmp2 = static_cast<T>(1) / sqrt(tmp1);
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return vec<3, T, Q>(x.x * tmp2, x.y * tmp2, x.z * tmp2);
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}
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template<typename T, qualifier Q>
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GLM_FUNC_QUALIFIER qua<T, Q> angleAxis(T const& angle, vec<3, T, Q> const& v)
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{
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T const a(angle);
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T const s = glm::sin(a * static_cast<T>(0.5));
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return qua<T, Q>(glm::cos(a * static_cast<T>(0.5)), v * s);
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}
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}//namespace glm
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