1///////////////////////////////////////////////////////////////////////////////////
2/// OpenGL Mathematics (glm.g-truc.net)
3///
4/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net)
5/// Permission is hereby granted, free of charge, to any person obtaining a copy
6/// of this software and associated documentation files (the "Software"), to deal
7/// in the Software without restriction, including without limitation the rights
8/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
9/// copies of the Software, and to permit persons to whom the Software is
10/// furnished to do so, subject to the following conditions:
11///
12/// The above copyright notice and this permission notice shall be included in
13/// all copies or substantial portions of the Software.
14///
15/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
16/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
17/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
18/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
19/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
20/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
21/// THE SOFTWARE.
22///
23/// @ref gtx_simd_quat
24/// @file glm/gtx/simd_quat.hpp
25/// @date 2009-05-07 / 2011-06-07
26/// @author Christophe Riccio
27///
28/// @see core (dependence)
29///
30/// @defgroup gtx_simd_vec4 GLM_GTX_simd_quat
31/// @ingroup gtx
32///
33/// @brief SIMD implementation of quat type.
34///
35/// <glm/gtx/simd_quat.hpp> need to be included to use these functionalities.
36///////////////////////////////////////////////////////////////////////////////////
37
38#ifndef GLM_GTX_simd_quat
39#define GLM_GTX_simd_quat
40
41// Dependency:
42#include "../glm.hpp"
43#include "../gtc/quaternion.hpp"
44#include "../gtx/fast_trigonometry.hpp"
45
46#if(GLM_ARCH != GLM_ARCH_PURE)
47
48#if(GLM_ARCH & GLM_ARCH_SSE2)
49#   include "../gtx/simd_mat4.hpp"
50#else
51#	error "GLM: GLM_GTX_simd_quat requires compiler support of SSE2 through intrinsics"
52#endif
53
54#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
55#	pragma message("GLM: GLM_GTX_simd_quat extension included")
56#endif
57
58
59// Warning silencer for nameless struct/union.
60#if (GLM_COMPILER & GLM_COMPILER_VC)
61#   pragma warning(push)
62#   pragma warning(disable:4201)   // warning C4201: nonstandard extension used : nameless struct/union
63#endif
64
65
66namespace glm{
67namespace detail
68{
69	/// Quaternion implemented using SIMD SEE intrinsics.
70	/// \ingroup gtx_simd_vec4
71	GLM_ALIGNED_STRUCT(16) fquatSIMD
72	{
73		enum ctor{null};
74		typedef __m128 value_type;
75		typedef std::size_t size_type;
76		static size_type value_size();
77
78		typedef fquatSIMD type;
79		typedef tquat<bool, defaultp> bool_type;
80
81#ifdef GLM_SIMD_ENABLE_XYZW_UNION
82        union
83        {
84		    __m128 Data;
85            struct {float x, y, z, w;};
86        };
87#else
88        __m128 Data;
89#endif
90
91		//////////////////////////////////////
92		// Implicit basic constructors
93
94		fquatSIMD();
95		fquatSIMD(__m128 const & Data);
96		fquatSIMD(fquatSIMD const & q);
97
98		//////////////////////////////////////
99		// Explicit basic constructors
100
101		explicit fquatSIMD(
102			ctor);
103		explicit fquatSIMD(
104			float const & w,
105			float const & x,
106			float const & y,
107			float const & z);
108		explicit fquatSIMD(
109			quat const & v);
110        explicit fquatSIMD(
111			vec3 const & eulerAngles);
112
113
114		//////////////////////////////////////
115		// Unary arithmetic operators
116
117        fquatSIMD& operator =(fquatSIMD const & q);
118        fquatSIMD& operator*=(float const & s);
119		fquatSIMD& operator/=(float const & s);
120	};
121
122
123    //////////////////////////////////////
124    // Arithmetic operators
125
126	detail::fquatSIMD operator- (
127		detail::fquatSIMD const & q);
128
129	detail::fquatSIMD operator+ (
130		detail::fquatSIMD const & q,
131		detail::fquatSIMD const & p);
132
133	detail::fquatSIMD operator* (
134		detail::fquatSIMD const & q,
135		detail::fquatSIMD const & p);
136
137	detail::fvec4SIMD operator* (
138		detail::fquatSIMD const & q,
139		detail::fvec4SIMD const & v);
140
141	detail::fvec4SIMD operator* (
142		detail::fvec4SIMD const & v,
143		detail::fquatSIMD const & q);
144
145	detail::fquatSIMD operator* (
146		detail::fquatSIMD const & q,
147		float s);
148
149	detail::fquatSIMD operator* (
150		float s,
151		detail::fquatSIMD const & q);
152
153	detail::fquatSIMD operator/ (
154		detail::fquatSIMD const & q,
155		float s);
156
157}//namespace detail
158
159	typedef glm::detail::fquatSIMD simdQuat;
160
161	/// @addtogroup gtx_simd_quat
162	/// @{
163
164    //! Convert a simdQuat to a quat.
165	//! (From GLM_GTX_simd_quat extension)
166	quat quat_cast(
167		detail::fquatSIMD const & x);
168
169    //! Convert a simdMat4 to a simdQuat.
170    //! (From GLM_GTX_simd_quat extension)
171    detail::fquatSIMD quatSIMD_cast(
172        detail::fmat4x4SIMD const & m);
173
174    //! Converts a mat4 to a simdQuat.
175    //! (From GLM_GTX_simd_quat extension)
176    template <typename T, precision P>
177    detail::fquatSIMD quatSIMD_cast(
178        detail::tmat4x4<T, P> const & m);
179
180    //! Converts a mat3 to a simdQuat.
181    //! (From GLM_GTX_simd_quat extension)
182    template <typename T, precision P>
183    detail::fquatSIMD quatSIMD_cast(
184        detail::tmat3x3<T, P> const & m);
185
186    //! Convert a simdQuat to a simdMat4
187    //! (From GLM_GTX_simd_quat extension)
188    detail::fmat4x4SIMD mat4SIMD_cast(
189        detail::fquatSIMD const & q);
190
191    //! Converts a simdQuat to a standard mat4.
192    //! (From GLM_GTX_simd_quat extension)
193    mat4 mat4_cast(
194        detail::fquatSIMD const & q);
195
196
197	/// Returns the length of the quaternion.
198	///
199	/// @see gtc_quaternion
200	float length(
201		detail::fquatSIMD const & x);
202
203	/// Returns the normalized quaternion.
204	///
205	/// @see gtc_quaternion
206	detail::fquatSIMD normalize(
207		detail::fquatSIMD const & x);
208
209    /// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
210	///
211	/// @see gtc_quaternion
212	float dot(
213		detail::fquatSIMD const & q1,
214		detail::fquatSIMD const & q2);
215
216    /// Spherical linear interpolation of two quaternions.
217	/// The interpolation is oriented and the rotation is performed at constant speed.
218	/// For short path spherical linear interpolation, use the slerp function.
219	///
220	/// @param x A quaternion
221	/// @param y A quaternion
222	/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
223	/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
224	/// @see gtc_quaternion
225	/// @see - slerp(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a)
226	detail::fquatSIMD mix(
227		detail::fquatSIMD const & x,
228		detail::fquatSIMD const & y,
229		float const & a);
230
231    /// Linear interpolation of two quaternions.
232	/// The interpolation is oriented.
233	///
234	/// @param x A quaternion
235	/// @param y A quaternion
236	/// @param a Interpolation factor. The interpolation is defined in the range [0, 1].
237	/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
238	/// @see gtc_quaternion
239	detail::fquatSIMD lerp(
240		detail::fquatSIMD const & x,
241		detail::fquatSIMD const & y,
242		float const & a);
243
244	/// Spherical linear interpolation of two quaternions.
245	/// The interpolation always take the short path and the rotation is performed at constant speed.
246	///
247	/// @param x A quaternion
248	/// @param y A quaternion
249	/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
250	/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
251	/// @see gtc_quaternion
252	detail::fquatSIMD slerp(
253		detail::fquatSIMD const & x,
254		detail::fquatSIMD const & y,
255		float const & a);
256
257
258    /// Faster spherical linear interpolation of two unit length quaternions.
259    ///
260    /// This is the same as mix(), except for two rules:
261    ///   1) The two quaternions must be unit length.
262    ///   2) The interpolation factor (a) must be in the range [0, 1].
263    ///
264    /// This will use the equivalent to fastAcos() and fastSin().
265    ///
266	/// @see gtc_quaternion
267	/// @see - mix(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a)
268	detail::fquatSIMD fastMix(
269		detail::fquatSIMD const & x,
270		detail::fquatSIMD const & y,
271		float const & a);
272
273    /// Identical to fastMix() except takes the shortest path.
274    ///
275    /// The same rules apply here as those in fastMix(). Both quaternions must be unit length and 'a' must be
276    /// in the range [0, 1].
277    ///
278	/// @see - fastMix(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a)
279	/// @see - slerp(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a)
280    detail::fquatSIMD fastSlerp(
281		detail::fquatSIMD const & x,
282		detail::fquatSIMD const & y,
283		float const & a);
284
285
286	/// Returns the q conjugate.
287	///
288	/// @see gtc_quaternion
289	detail::fquatSIMD conjugate(
290		detail::fquatSIMD const & q);
291
292	/// Returns the q inverse.
293	///
294	/// @see gtc_quaternion
295	detail::fquatSIMD inverse(
296		detail::fquatSIMD const & q);
297
298    /// Build a quaternion from an angle and a normalized axis.
299	///
300	/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
301	/// @param axis Axis of the quaternion, must be normalized.
302	///
303	/// @see gtc_quaternion
304	detail::fquatSIMD angleAxisSIMD(
305		float const & angle,
306		vec3 const & axis);
307
308    /// Build a quaternion from an angle and a normalized axis.
309	///
310	/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
311	/// @param x x component of the x-axis, x, y, z must be a normalized axis
312	/// @param y y component of the y-axis, x, y, z must be a normalized axis
313	/// @param z z component of the z-axis, x, y, z must be a normalized axis
314	///
315	/// @see gtc_quaternion
316	detail::fquatSIMD angleAxisSIMD(
317		float const & angle,
318		float const & x,
319		float const & y,
320		float const & z);
321
322
323    // TODO: Move this to somewhere more appropriate. Used with fastMix() and fastSlerp().
324    /// Performs the equivalent of glm::fastSin() on each component of the given __m128.
325    __m128 fastSin(__m128 x);
326
327
328	/// @}
329}//namespace glm
330
331#include "simd_quat.inl"
332
333
334#if (GLM_COMPILER & GLM_COMPILER_VC)
335#   pragma warning(pop)
336#endif
337
338
339#endif//(GLM_ARCH != GLM_ARCH_PURE)
340
341#endif//GLM_GTX_simd_quat
342