boost/qvm/quat_vec_operations.hpp

0001 #ifndef BOOST_QVM_QUAT_VEC_OPERATIONS_HPP_INCLUDED
0002 #define BOOST_QVM_QUAT_VEC_OPERATIONS_HPP_INCLUDED
0003
0004 // Copyright 2008-2022 Emil Dotchevski and Reverge Studios, Inc.
0005
0006 // Distributed under the Boost Software License, Version 1.0. (See accompanying
0007 // file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
0008
0009 #include <boost/qvm/quat_traits.hpp>
0010 #include <boost/qvm/deduce_vec.hpp>
0011 #include <boost/qvm/config.hpp>
0012 #include <boost/qvm/enable_if.hpp>
0013
0014 namespace boost { namespace qvm {
0015
0016 template <class A,class B>
0017 BOOST_QVM_CONSTEXPR BOOST_QVM_INLINE_OPERATIONS
0018 typename lazy_enable_if_c<
0019     is_quat<A>::value &&
0020     is_vec<B>::value && vec_traits<B>::dim==3,
0021     deduce_vec2<A,B,3> >::type
0022 operator*( A const & a, B const & b )
0023     {
0024     typedef typename deduce_vec2<A,B,3>::type R;
0025     typedef typename quat_traits<A>::scalar_type TA;
0026     typedef typename vec_traits<B>::scalar_type TB;
0027     TA const aa = quat_traits<A>::template read_element<0>(a);
0028     TA const ab = quat_traits<A>::template read_element<1>(a);
0029     TA const ac = quat_traits<A>::template read_element<2>(a);
0030     TA const ad = quat_traits<A>::template read_element<3>(a);
0031     TA const t2 = aa*ab;
0032     TA const t3 = aa*ac;
0033     TA const t4 = aa*ad;
0034     TA const t5 = -ab*ab;
0035     TA const t6 = ab*ac;
0036     TA const t7 = ab*ad;
0037     TA const t8 = -ac*ac;
0038     TA const t9 = ac*ad;
0039     TA const t10     = -ad*ad;
0040     TB const bx = vec_traits<B>::template read_element<0>(b);
0041     TB const by = vec_traits<B>::template read_element<1>(b);
0042     TB const bz = vec_traits<B>::template read_element<2>(b);
0043     R r;
0044     write_vec_element<0>(r, 2*((t8+t10)*bx + (t6-t4)*by + (t3+t7)*bz) + bx);
0045     write_vec_element<1>(r, 2*((t4+t6)*bx + (t5+t10)*by + (t9-t2)*bz) + by);
0046     write_vec_element<2>(r, 2*((t7-t3)*bx + (t2+t9)*by + (t5+t8)*bz) + bz);
0047     return r;
0048     }
0049
0050 namespace
0051 sfinae
0052     {
0053     using ::boost::qvm::operator*;
0054     }
0055
0056 } }
0057
0058 #endif