1/*
2 * Copyright 2013 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 *      http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17#pragma once
18
19#include <math/half.h>
20#include <math/TQuatHelpers.h>
21#include <math/vec3.h>
22#include <math/vec4.h>
23
24#include <stdint.h>
25#include <sys/types.h>
26
27#ifndef PURE
28#define PURE __attribute__((pure))
29#endif
30
31#pragma clang diagnostic push
32#pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
33#pragma clang diagnostic ignored "-Wnested-anon-types"
34
35namespace android {
36// -------------------------------------------------------------------------------------
37
38namespace details {
39
40template <typename T>
41class TQuaternion : public TVecAddOperators<TQuaternion, T>,
42                    public TVecUnaryOperators<TQuaternion, T>,
43                    public TVecComparisonOperators<TQuaternion, T>,
44                    public TQuatProductOperators<TQuaternion, T>,
45                    public TQuatFunctions<TQuaternion, T>,
46                    public TQuatDebug<TQuaternion, T> {
47public:
48    enum no_init { NO_INIT };
49    typedef T value_type;
50    typedef T& reference;
51    typedef T const& const_reference;
52    typedef size_t size_type;
53
54    /*
55     * quaternion internals stored as:
56     *
57     * q = w + xi + yj + zk
58     *
59     *  q[0] = x;
60     *  q[1] = y;
61     *  q[2] = z;
62     *  q[3] = w;
63     *
64     */
65    union {
66        struct { T x, y, z, w; };
67        TVec4<T> xyzw;
68        TVec3<T> xyz;
69        TVec2<T> xy;
70    };
71
72    enum { SIZE = 4 };
73    inline constexpr static size_type size() { return SIZE; }
74
75    // array access
76    inline constexpr T const& operator[](size_t i) const {
77#if __cplusplus >= 201402L
78        // only possible in C++0x14 with constexpr
79        assert(i < SIZE);
80#endif
81        return (&x)[i];
82    }
83
84    inline T& operator[](size_t i) {
85        assert(i < SIZE);
86        return (&x)[i];
87    }
88
89    // -----------------------------------------------------------------------
90    // we want the compiler generated versions for these...
91    TQuaternion(const TQuaternion&) = default;
92    ~TQuaternion() = default;
93    TQuaternion& operator = (const TQuaternion&) = default;
94
95    // constructors
96
97    // leaves object uninitialized. use with caution.
98    explicit
99    constexpr TQuaternion(no_init) : xyzw(TVec4<T>::NO_INIT) {}
100
101    // default constructor. sets all values to zero.
102    constexpr TQuaternion() : x(0), y(0), z(0), w(0) { }
103
104    // handles implicit conversion to a tvec4. must not be explicit.
105    template<typename A>
106    constexpr TQuaternion(A w) : x(0), y(0), z(0), w(w) {
107        static_assert(std::is_arithmetic<A>::value, "requires arithmetic type");
108    }
109
110    // initialize from 4 values to w + xi + yj + zk
111    template<typename A, typename B, typename C, typename D>
112    constexpr TQuaternion(A w, B x, C y, D z) : x(x), y(y), z(z), w(w) { }
113
114    // initialize from a vec3 + a value to : v.xi + v.yj + v.zk + w
115    template<typename A, typename B>
116    constexpr TQuaternion(const TVec3<A>& v, B w) : x(v.x), y(v.y), z(v.z), w(w) { }
117
118    // initialize from a double4
119    template<typename A>
120    constexpr explicit TQuaternion(const TVec4<A>& v) : x(v.x), y(v.y), z(v.z), w(v.w) { }
121
122    // initialize from a quaternion of a different type
123    template<typename A>
124    constexpr explicit TQuaternion(const TQuaternion<A>& v) : x(v.x), y(v.y), z(v.z), w(v.w) { }
125
126    // conjugate operator
127    constexpr TQuaternion operator~() const {
128        return conj(*this);
129    }
130
131    // constructs a quaternion from an axis and angle
132    template <typename A, typename B>
133    constexpr static TQuaternion PURE fromAxisAngle(const TVec3<A>& axis, B angle) {
134        return TQuaternion(std::sin(angle*0.5) * normalize(axis), std::cos(angle*0.5));
135    }
136};
137
138}  // namespace details
139
140// ----------------------------------------------------------------------------------------
141
142typedef details::TQuaternion<double> quatd;
143typedef details::TQuaternion<float> quat;
144typedef details::TQuaternion<float> quatf;
145typedef details::TQuaternion<half> quath;
146
147constexpr inline quat operator"" _i(long double v) {
148    return quat(0, static_cast<float>(v), 0, 0);
149}
150constexpr inline quat operator"" _j(long double v) {
151    return quat(0, 0, static_cast<float>(v), 0);
152}
153constexpr inline quat operator"" _k(long double v) {
154    return quat(0, 0, 0, static_cast<float>(v));
155}
156
157constexpr inline quat operator"" _i(unsigned long long v) {  // NOLINT
158    return quat(0, static_cast<float>(v), 0, 0);
159}
160constexpr inline quat operator"" _j(unsigned long long v) {  // NOLINT
161    return quat(0, 0, static_cast<float>(v), 0);
162}
163constexpr inline quat operator"" _k(unsigned long long v) {  // NOLINT
164    return quat(0, 0, 0, static_cast<float>(v));
165}
166
167constexpr inline quatd operator"" _id(long double v) {
168    return quatd(0, static_cast<double>(v), 0, 0);
169}
170constexpr inline quatd operator"" _jd(long double v) {
171    return quatd(0, 0, static_cast<double>(v), 0);
172}
173constexpr inline quatd operator"" _kd(long double v) {
174    return quatd(0, 0, 0, static_cast<double>(v));
175}
176
177constexpr inline quatd operator"" _id(unsigned long long v) {  // NOLINT
178    return quatd(0, static_cast<double>(v), 0, 0);
179}
180constexpr inline quatd operator"" _jd(unsigned long long v) {  // NOLINT
181    return quatd(0, 0, static_cast<double>(v), 0);
182}
183constexpr inline quatd operator"" _kd(unsigned long long v) {  // NOLINT
184    return quatd(0, 0, 0, static_cast<double>(v));
185}
186
187// ----------------------------------------------------------------------------------------
188}  // namespace android
189
190#pragma clang diagnostic pop
191
192#undef PURE
193