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1 | #ifndef BOOST_QVM_QUAT_VEC_OPERATIONS_HPP_INCLUDED |
2 | #define BOOST_QVM_QUAT_VEC_OPERATIONS_HPP_INCLUDED | |
92f5a8d4 | 3 | |
1e59de90 | 4 | // Copyright 2008-2022 Emil Dotchevski and Reverge Studios, Inc. |
92f5a8d4 | 5 | |
1e59de90 TL |
6 | // Distributed under the Boost Software License, Version 1.0. (See accompanying |
7 | // file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) | |
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8 | |
9 | #include <boost/qvm/quat_traits.hpp> | |
10 | #include <boost/qvm/deduce_vec.hpp> | |
f51cf556 | 11 | #include <boost/qvm/config.hpp> |
92f5a8d4 TL |
12 | #include <boost/qvm/enable_if.hpp> |
13 | ||
1e59de90 TL |
14 | namespace boost { namespace qvm { |
15 | ||
16 | template <class A,class B> | |
17 | BOOST_QVM_CONSTEXPR BOOST_QVM_INLINE_OPERATIONS | |
18 | typename lazy_enable_if_c< | |
19 | is_quat<A>::value && | |
20 | is_vec<B>::value && vec_traits<B>::dim==3, | |
21 | deduce_vec2<A,B,3> >::type | |
22 | operator*( A const & a, B const & b ) | |
23 | { | |
24 | typedef typename deduce_vec2<A,B,3>::type R; | |
25 | typedef typename quat_traits<A>::scalar_type TA; | |
26 | typedef typename vec_traits<B>::scalar_type TB; | |
27 | TA const aa = quat_traits<A>::template read_element<0>(a); | |
28 | TA const ab = quat_traits<A>::template read_element<1>(a); | |
29 | TA const ac = quat_traits<A>::template read_element<2>(a); | |
30 | TA const ad = quat_traits<A>::template read_element<3>(a); | |
31 | TA const t2 = aa*ab; | |
32 | TA const t3 = aa*ac; | |
33 | TA const t4 = aa*ad; | |
34 | TA const t5 = -ab*ab; | |
35 | TA const t6 = ab*ac; | |
36 | TA const t7 = ab*ad; | |
37 | TA const t8 = -ac*ac; | |
38 | TA const t9 = ac*ad; | |
39 | TA const t10 = -ad*ad; | |
40 | TB const bx = vec_traits<B>::template read_element<0>(b); | |
41 | TB const by = vec_traits<B>::template read_element<1>(b); | |
42 | TB const bz = vec_traits<B>::template read_element<2>(b); | |
43 | R r; | |
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44 | write_vec_element<0>(r, 2*((t8+t10)*bx + (t6-t4)*by + (t3+t7)*bz) + bx); |
45 | write_vec_element<1>(r, 2*((t4+t6)*bx + (t5+t10)*by + (t9-t2)*bz) + by); | |
46 | write_vec_element<2>(r, 2*((t7-t3)*bx + (t2+t9)*by + (t5+t8)*bz) + bz); | |
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47 | return r; |
48 | } | |
49 | ||
92f5a8d4 | 50 | namespace |
1e59de90 | 51 | sfinae |
92f5a8d4 | 52 | { |
1e59de90 | 53 | using ::boost::qvm::operator*; |
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54 | } |
55 | ||
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56 | } } |
57 | ||
92f5a8d4 | 58 | #endif |