ceph/src/boost/boost/qvm/quat_vec_operations.hpp

   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