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Viewing changes to extern/solid/include/MT/Quaternion.h

  • Committer: Bazaar Package Importer
  • Author(s): Florian Ernst
  • Date: 2005-11-06 12:40:03 UTC
  • mfrom: (1.1.2 upstream)
  • Revision ID: james.westby@ubuntu.com-20051106124003-3pgs7tcg5rox96xg
Tags: 2.37a-1.1
http://bugs.debian.org/333958
* Non-maintainer upload.
* Split out parts of 01_SConstruct_debian.dpatch again: root_build_dir
  really needs to get adjusted before the clean target runs - closes: #333958,
  see #288882 for reference

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extern/solid/include/MT/Quaternion.h
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#ifndef QUATERNION_H
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#define QUATERNION_H
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#if defined (__sgi)
 
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#include <assert.h>
 
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#else
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#include <cassert>
 
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#endif
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#include "Tuple4.h"
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#include "Vector3.h"
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                Quaternion<Scalar>& operator+=(const Quaternion<Scalar>& q)
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                {
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                        m_co[0] += q[0]; m_co[1] += q[1]; m_co[2] += q[2]; m_co[3] += q[3];
 
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                        this->m_co[0] += q[0]; this->m_co[1] += q[1]; this->m_co[2] += q[2]; this->m_co[3] += q[3];
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                        return *this;
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                }
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                Quaternion<Scalar>& operator-=(const Quaternion<Scalar>& q) 
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                {
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                        m_co[0] -= q[0]; m_co[1] -= q[1]; m_co[2] -= q[2]; m_co[3] -= q[3];
 
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                        this->m_co[0] -= q[0]; this->m_co[1] -= q[1]; this->m_co[2] -= q[2]; this->m_co[3] -= q[3];
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                        return *this;
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                }
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                Quaternion<Scalar>& operator*=(const Scalar& s)
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                {
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                        m_co[0] *= s; m_co[1] *= s; m_co[2] *= s; m_co[3] *= s;
 
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                        this->m_co[0] *= s; this->m_co[1] *= s; this->m_co[2] *= s; this->m_co[3] *= s;
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                        return *this;
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                }
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                Quaternion<Scalar>& operator*=(const Quaternion<Scalar>& q)
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                {
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                        setValue(m_co[3] * q[0] + m_co[0] * q[3] + m_co[1] * q[2] - m_co[2] * q[1],
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                                         m_co[3] * q[1] + m_co[1] * q[3] + m_co[2] * q[0] - m_co[0] * q[2],
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                                         m_co[3] * q[2] + m_co[2] * q[3] + m_co[0] * q[1] - m_co[1] * q[0],
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                                         m_co[3] * q[3] - m_co[0] * q[0] - m_co[1] * q[1] - m_co[2] * q[2]);
 
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                        setValue(this->m_co[3] * q[0] + this->m_co[0] * q[3] + this->m_co[1] * q[2] - this->m_co[2] * q[1],
 
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                                         this->m_co[3] * q[1] + this->m_co[1] * q[3] + this->m_co[2] * q[0] - this->m_co[0] * q[2],
 
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                                         this->m_co[3] * q[2] + this->m_co[2] * q[3] + this->m_co[0] * q[1] - this->m_co[1] * q[0],
 
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                                         this->m_co[3] * q[3] - this->m_co[0] * q[0] - this->m_co[1] * q[1] - this->m_co[2] * q[2]);
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                        return *this;
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                }
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                Scalar dot(const Quaternion<Scalar>& q) const
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                {
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                        return m_co[0] * q[0] + m_co[1] * q[1] + m_co[2] * q[2] + m_co[3] * q[3];
 
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                        return this->m_co[0] * q[0] + this->m_co[1] * q[1] + this->m_co[2] * q[2] + this->m_co[3] * q[3];
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                }
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                Scalar length2() const
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                Quaternion<Scalar> conjugate() const 
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                {
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                        return Quaternion<Scalar>(-m_co[0], -m_co[1], -m_co[2], m_co[3]);
 
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                        return Quaternion<Scalar>(-this->m_co[0], -this->m_co[1], -this->m_co[2], this->m_co[3]);
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                }
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                Quaternion<Scalar> inverse() const
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                                Scalar d = Scalar(1.0) / Scalar_traits<Scalar>::sin(theta);
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                                Scalar s0 = Scalar_traits<Scalar>::sin((Scalar(1.0) - t) * theta);
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                                Scalar s1 = Scalar_traits<Scalar>::sin(t * theta);   
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                                return Quaternion<Scalar>((m_co[0] * s0 + q[0] * s1) * d,
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                                                                                  (m_co[1] * s0 + q[1] * s1) * d,
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                                                                                  (m_co[2] * s0 + q[2] * s1) * d,
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                                                                                  (m_co[3] * s0 + q[3] * s1) * d);
 
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                                return Quaternion<Scalar>((this->m_co[0] * s0 + q[0] * s1) * d,
 
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                                                                                  (this->m_co[1] * s0 + q[1] * s1) * d,
 
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                                                                                  (this->m_co[2] * s0 + q[2] * s1) * d,
 
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                                                                                  (this->m_co[3] * s0 + q[3] * s1) * d);
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                        }
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                        else
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                        {