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