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1 | //Copyright (c) 2008-2016 Emil Dotchevski and Reverge Studios, Inc. |
2 | ||
3 | //Distributed under the Boost Software License, Version 1.0. (See accompanying | |
4 | //file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) | |
5 | ||
6 | #ifndef UUID_51968952D30A11DFAFE78CE3DFD72085 | |
7 | #define UUID_51968952D30A11DFAFE78CE3DFD72085 | |
8 | ||
9 | #include <boost/qvm/quat_traits.hpp> | |
10 | #include <boost/qvm/deduce_vec.hpp> | |
11 | #include <boost/qvm/inline.hpp> | |
12 | #include <boost/qvm/enable_if.hpp> | |
13 | ||
14 | namespace | |
15 | boost | |
16 | { | |
17 | namespace | |
18 | qvm | |
19 | { | |
20 | template <class A,class B> | |
21 | BOOST_QVM_INLINE_OPERATIONS | |
22 | typename lazy_enable_if_c< | |
23 | is_quat<A>::value && | |
24 | is_vec<B>::value && vec_traits<B>::dim==3, | |
25 | deduce_vec2<A,B,3> >::type | |
26 | operator*( A const & a, B const & b ) | |
27 | { | |
28 | typedef typename deduce_vec2<A,B,3>::type R; | |
29 | typedef typename quat_traits<A>::scalar_type TA; | |
30 | typedef typename vec_traits<B>::scalar_type TB; | |
31 | TA const aa = quat_traits<A>::template read_element<0>(a); | |
32 | TA const ab = quat_traits<A>::template read_element<1>(a); | |
33 | TA const ac = quat_traits<A>::template read_element<2>(a); | |
34 | TA const ad = quat_traits<A>::template read_element<3>(a); | |
35 | TA const t2 = aa*ab; | |
36 | TA const t3 = aa*ac; | |
37 | TA const t4 = aa*ad; | |
38 | TA const t5 = -ab*ab; | |
39 | TA const t6 = ab*ac; | |
40 | TA const t7 = ab*ad; | |
41 | TA const t8 = -ac*ac; | |
42 | TA const t9 = ac*ad; | |
43 | TA const t10 = -ad*ad; | |
44 | TB const bx = vec_traits<B>::template read_element<0>(b); | |
45 | TB const by = vec_traits<B>::template read_element<1>(b); | |
46 | TB const bz = vec_traits<B>::template read_element<2>(b); | |
47 | R r; | |
48 | vec_traits<R>::template write_element<0>(r) = 2*((t8+t10)*bx + (t6-t4)*by + (t3+t7)*bz) + bx; | |
49 | vec_traits<R>::template write_element<1>(r) = 2*((t4+t6)*bx + (t5+t10)*by + (t9-t2)*bz) + by; | |
50 | vec_traits<R>::template write_element<2>(r) = 2*((t7-t3)*bx + (t2+t9)*by + (t5+t8)*bz) + bz; | |
51 | return r; | |
52 | } | |
53 | ||
54 | namespace | |
55 | sfinae | |
56 | { | |
57 | using ::boost::qvm::operator*; | |
58 | } | |
59 | } | |
60 | } | |
61 | ||
62 | #endif |