600 lines
15 KiB
C++
600 lines
15 KiB
C++
//
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// Test_quat_aos_neon.cpp
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// BulletTest
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//
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// Copyright (c) 2011 Apple Inc., Inc.
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//
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#include "LinearMath/btScalar.h"
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#if defined (BT_USE_SSE_IN_API) || defined (BT_USE_NEON)
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#include "Test_quat_aos_neon.h"
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#include "vector.h"
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#include "Utils.h"
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#include "main.h"
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#include <vectormath/vmInclude.h>
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//typedef Vectormath::Aos::Vector3 vmVector3;
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//typedef Vectormath::Aos::Quat vmQuat;
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//typedef Vectormath::Aos::Matrix3 vmMatrix3;
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//typedef Vectormath::Aos::Transform3 vmTransform3;
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//typedef Vectormath::Aos::Point3 vmPoint3;
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typedef Vectormath::Aos::Vector4 vmVector4;
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// reference code for testing purposes
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ATTRIBUTE_ALIGNED16(class) Quat_ref
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{
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float mX;
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float mY;
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float mZ;
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float mW;
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public:
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// Default constructor; does no initialization
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//
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inline Quat_ref( ) { };
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// Copy a quaternion
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//
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inline Quat_ref( const Quat_ref & quat );
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// Construct a quaternion from x, y, z, and w elements
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//
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inline Quat_ref( float x, float y, float z, float w );
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// Construct a quaternion from a 3-D vector and a scalar
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//
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inline Quat_ref( const vmVector3 & xyz, float w );
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// Copy elements from a 4-D vector into a quaternion
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//
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explicit inline Quat_ref( const vmVector4 & vec );
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// Convert a rotation matrix to a unit-length quaternion
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//
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explicit inline Quat_ref( const vmMatrix3 & rotMat );
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// Set all elements of a quaternion to the same scalar value
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//
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explicit inline Quat_ref( float scalar );
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// Assign one quaternion to another
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//
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inline Quat_ref & operator =( const Quat_ref & quat );
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// Set the x, y, and z elements of a quaternion
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// NOTE:
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// This function does not change the w element.
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//
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inline Quat_ref & setXYZ( const vmVector3 & vec );
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// Get the x, y, and z elements of a quaternion
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//
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inline const vmVector3 getXYZ( ) const;
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// Set the x element of a quaternion
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//
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inline Quat_ref & setX( float x );
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// Set the y element of a quaternion
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//
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inline Quat_ref & setY( float y );
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// Set the z element of a quaternion
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//
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inline Quat_ref & setZ( float z );
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// Set the w element of a quaternion
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//
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inline Quat_ref & setW( float w );
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// Get the x element of a quaternion
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//
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inline float getX( ) const;
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// Get the y element of a quaternion
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//
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inline float getY( ) const;
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// Get the z element of a quaternion
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//
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inline float getZ( ) const;
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// Get the w element of a quaternion
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//
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inline float getW( ) const;
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// Set an x, y, z, or w element of a quaternion by index
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//
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inline Quat_ref & setElem( int idx, float value );
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// Get an x, y, z, or w element of a quaternion by index
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//
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inline float getElem( int idx ) const;
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// Subscripting operator to set or get an element
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//
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inline float & operator []( int idx );
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// Subscripting operator to get an element
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//
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inline float operator []( int idx ) const;
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// Add two quaternions
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//
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inline const Quat_ref operator +( const Quat_ref & quat ) const;
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// Subtract a quaternion from another quaternion
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//
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inline const Quat_ref operator -( const Quat_ref & quat ) const;
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// Multiply two quaternions
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//
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inline const Quat_ref operator *( const Quat_ref & quat ) const;
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// Multiply a quaternion by a scalar
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//
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inline const Quat_ref operator *( float scalar ) const;
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// Divide a quaternion by a scalar
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//
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inline const Quat_ref operator /( float scalar ) const;
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// Perform compound assignment and addition with a quaternion
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//
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inline Quat_ref & operator +=( const Quat_ref & quat );
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// Perform compound assignment and subtraction by a quaternion
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//
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inline Quat_ref & operator -=( const Quat_ref & quat );
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// Perform compound assignment and multiplication by a quaternion
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//
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inline Quat_ref & operator *=( const Quat_ref & quat );
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// Perform compound assignment and multiplication by a scalar
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//
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inline Quat_ref & operator *=( float scalar );
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// Perform compound assignment and division by a scalar
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//
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inline Quat_ref & operator /=( float scalar );
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// Negate all elements of a quaternion
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//
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inline const Quat_ref operator -( ) const;
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// Construct an identity quaternion
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//
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static inline const Quat_ref identity( );
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// Construct a quaternion to rotate between two unit-length 3-D vectors
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// NOTE:
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// The result is unpredictable if unitVec0 and unitVec1 point in opposite directions.
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//
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static inline const Quat_ref rotation( const vmVector3 & unitVec0, const vmVector3 & unitVec1 );
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// Construct a quaternion to rotate around a unit-length 3-D vector
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//
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static inline const Quat_ref rotation( float radians, const vmVector3 & unitVec );
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// Construct a quaternion to rotate around the x axis
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//
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static inline const Quat_ref rotationX( float radians );
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// Construct a quaternion to rotate around the y axis
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//
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static inline const Quat_ref rotationY( float radians );
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// Construct a quaternion to rotate around the z axis
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//
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static inline const Quat_ref rotationZ( float radians );
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};
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inline Quat_ref::Quat_ref( const Quat_ref & quat )
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{
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mX = quat.mX;
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mY = quat.mY;
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mZ = quat.mZ;
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mW = quat.mW;
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}
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inline Quat_ref::Quat_ref( float _x, float _y, float _z, float _w )
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{
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mX = _x;
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mY = _y;
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mZ = _z;
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mW = _w;
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}
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inline Quat_ref::Quat_ref( const vmVector3 & xyz, float _w )
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{
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this->setXYZ( xyz );
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this->setW( _w );
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}
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inline Quat_ref::Quat_ref( const vmVector4 & vec )
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{
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mX = vec.getX();
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mY = vec.getY();
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mZ = vec.getZ();
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mW = vec.getW();
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}
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inline Quat_ref::Quat_ref( float scalar )
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{
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mX = scalar;
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mY = scalar;
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mZ = scalar;
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mW = scalar;
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}
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inline const Quat_ref Quat_ref::identity( )
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{
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return Quat_ref( 0.0f, 0.0f, 0.0f, 1.0f );
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}
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inline void loadXYZW_ref( Quat_ref & quat, const float * fptr )
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{
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quat = Quat_ref( fptr[0], fptr[1], fptr[2], fptr[3] );
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}
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inline void storeXYZW_ref( const Quat_ref & quat, float * fptr )
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{
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fptr[0] = quat.getX();
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fptr[1] = quat.getY();
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fptr[2] = quat.getZ();
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fptr[3] = quat.getW();
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}
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inline Quat_ref & Quat_ref::operator =( const Quat_ref & quat )
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{
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mX = quat.mX;
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mY = quat.mY;
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mZ = quat.mZ;
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mW = quat.mW;
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return *this;
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}
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inline Quat_ref & Quat_ref::setXYZ( const vmVector3 & vec )
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{
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mX = vec.getX();
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mY = vec.getY();
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mZ = vec.getZ();
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return *this;
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}
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inline const vmVector3 Quat_ref::getXYZ( ) const
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{
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return vmVector3( mX, mY, mZ );
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}
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inline Quat_ref & Quat_ref::setX( float _x )
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{
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mX = _x;
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return *this;
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}
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inline float Quat_ref::getX( ) const
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{
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return mX;
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}
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inline Quat_ref & Quat_ref::setY( float _y )
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{
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mY = _y;
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return *this;
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}
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inline float Quat_ref::getY( ) const
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{
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return mY;
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}
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inline Quat_ref & Quat_ref::setZ( float _z )
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{
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mZ = _z;
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return *this;
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}
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inline float Quat_ref::getZ( ) const
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{
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return mZ;
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}
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inline Quat_ref & Quat_ref::setW( float _w )
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{
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mW = _w;
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return *this;
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}
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inline float Quat_ref::getW( ) const
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{
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return mW;
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}
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inline Quat_ref & Quat_ref::setElem( int idx, float value )
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{
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*(&mX + idx) = value;
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return *this;
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}
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inline float Quat_ref::getElem( int idx ) const
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{
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return *(&mX + idx);
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}
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inline float & Quat_ref::operator []( int idx )
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{
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return *(&mX + idx);
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}
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inline float Quat_ref::operator []( int idx ) const
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{
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return *(&mX + idx);
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}
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inline const Quat_ref Quat_ref::operator +( const Quat_ref & quat ) const
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{
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return Quat_ref(
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( mX + quat.mX ),
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( mY + quat.mY ),
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( mZ + quat.mZ ),
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( mW + quat.mW )
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);
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}
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inline const Quat_ref Quat_ref::operator -( const Quat_ref & quat ) const
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{
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return Quat_ref(
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( mX - quat.mX ),
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( mY - quat.mY ),
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( mZ - quat.mZ ),
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( mW - quat.mW )
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);
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}
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inline const Quat_ref Quat_ref::operator *( float scalar ) const
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{
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return Quat_ref(
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( mX * scalar ),
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( mY * scalar ),
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( mZ * scalar ),
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( mW * scalar )
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);
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}
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inline Quat_ref & Quat_ref::operator +=( const Quat_ref & quat )
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{
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*this = *this + quat;
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return *this;
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}
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inline Quat_ref & Quat_ref::operator -=( const Quat_ref & quat )
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{
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*this = *this - quat;
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return *this;
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}
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inline Quat_ref & Quat_ref::operator *=( float scalar )
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{
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*this = *this * scalar;
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return *this;
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}
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inline const Quat_ref Quat_ref::operator /( float scalar ) const
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{
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return Quat_ref(
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( mX / scalar ),
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( mY / scalar ),
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( mZ / scalar ),
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( mW / scalar )
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);
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}
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inline Quat_ref & Quat_ref::operator /=( float scalar )
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{
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*this = *this / scalar;
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return *this;
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}
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inline const Quat_ref Quat_ref::operator -( ) const
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{
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return Quat_ref(
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-mX,
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-mY,
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-mZ,
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-mW
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);
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}
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inline const Quat_ref operator *( float scalar, const Quat_ref & quat )
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{
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return quat * scalar;
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}
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inline float dot( const Quat_ref & quat0, const Quat_ref & quat1 )
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{
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float result;
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result = ( quat0.getX() * quat1.getX() );
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result = ( result + ( quat0.getY() * quat1.getY() ) );
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result = ( result + ( quat0.getZ() * quat1.getZ() ) );
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result = ( result + ( quat0.getW() * quat1.getW() ) );
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return result;
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}
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inline const Quat_ref lerp( float t, const Quat_ref & quat0, const Quat_ref & quat1 )
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{
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return ( quat0 + ( ( quat1 - quat0 ) * t ) );
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}
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inline const Quat_ref slerp( float t, const Quat_ref & unitQuat0, const Quat_ref & unitQuat1 )
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{
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Quat_ref start;
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float recipSinAngle, scale0, scale1, cosAngle, angle;
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cosAngle = dot( unitQuat0, unitQuat1 );
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if ( cosAngle < 0.0f ) {
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cosAngle = -cosAngle;
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start = ( -unitQuat0 );
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} else {
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start = unitQuat0;
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}
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if ( cosAngle < _VECTORMATH_SLERP_TOL ) {
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angle = acosf( cosAngle );
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recipSinAngle = ( 1.0f / sinf( angle ) );
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scale0 = ( sinf( ( ( 1.0f - t ) * angle ) ) * recipSinAngle );
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scale1 = ( sinf( ( t * angle ) ) * recipSinAngle );
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} else {
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scale0 = ( 1.0f - t );
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scale1 = t;
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}
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return ( ( start * scale0 ) + ( unitQuat1 * scale1 ) );
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}
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inline const Quat_ref squad( float t, const Quat_ref & unitQuat0, const Quat_ref & unitQuat1, const Quat_ref & unitQuat2, const Quat_ref & unitQuat3 )
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{
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Quat_ref tmp0, tmp1;
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tmp0 = slerp( t, unitQuat0, unitQuat3 );
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tmp1 = slerp( t, unitQuat1, unitQuat2 );
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return slerp( ( ( 2.0f * t ) * ( 1.0f - t ) ), tmp0, tmp1 );
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}
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inline float norm( const Quat_ref & quat )
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{
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float result;
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result = ( quat.getX() * quat.getX() );
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result = ( result + ( quat.getY() * quat.getY() ) );
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result = ( result + ( quat.getZ() * quat.getZ() ) );
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result = ( result + ( quat.getW() * quat.getW() ) );
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return result;
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}
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inline float length( const Quat_ref & quat )
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{
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return ::sqrtf( norm( quat ) );
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}
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inline const Quat_ref normalize( const Quat_ref & quat )
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{
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float lenSqr, lenInv;
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lenSqr = norm( quat );
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lenInv = ( 1.0f / sqrtf( lenSqr ) );
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return Quat_ref(
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( quat.getX() * lenInv ),
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( quat.getY() * lenInv ),
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( quat.getZ() * lenInv ),
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( quat.getW() * lenInv )
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);
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}
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inline const Quat_ref Quat_ref::rotation( const vmVector3 & unitVec0, const vmVector3 & unitVec1 )
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{
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float cosHalfAngleX2, recipCosHalfAngleX2;
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cosHalfAngleX2 = sqrtf( ( 2.0f * ( 1.0f + dot( unitVec0, unitVec1 ) ) ) );
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recipCosHalfAngleX2 = ( 1.0f / cosHalfAngleX2 );
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return Quat_ref( ( cross( unitVec0, unitVec1 ) * recipCosHalfAngleX2 ), ( cosHalfAngleX2 * 0.5f ) );
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}
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inline const Quat_ref Quat_ref::rotation( float radians, const vmVector3 & unitVec )
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{
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float s, c, angle;
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angle = ( radians * 0.5f );
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s = sinf( angle );
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c = cosf( angle );
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return Quat_ref( ( unitVec * s ), c );
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}
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inline const Quat_ref Quat_ref::rotationX( float radians )
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{
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float s, c, angle;
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angle = ( radians * 0.5f );
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s = sinf( angle );
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c = cosf( angle );
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return Quat_ref( s, 0.0f, 0.0f, c );
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}
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inline const Quat_ref Quat_ref::rotationY( float radians )
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{
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float s, c, angle;
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angle = ( radians * 0.5f );
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s = sinf( angle );
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c = cosf( angle );
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return Quat_ref( 0.0f, s, 0.0f, c );
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}
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inline const Quat_ref Quat_ref::rotationZ( float radians )
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{
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float s, c, angle;
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angle = ( radians * 0.5f );
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s = sinf( angle );
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c = cosf( angle );
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return Quat_ref( 0.0f, 0.0f, s, c );
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}
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inline const Quat_ref Quat_ref::operator *( const Quat_ref & quat ) const
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{
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return Quat_ref(
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( ( ( ( mW * quat.mX ) + ( mX * quat.mW ) ) + ( mY * quat.mZ ) ) - ( mZ * quat.mY ) ),
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( ( ( ( mW * quat.mY ) + ( mY * quat.mW ) ) + ( mZ * quat.mX ) ) - ( mX * quat.mZ ) ),
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( ( ( ( mW * quat.mZ ) + ( mZ * quat.mW ) ) + ( mX * quat.mY ) ) - ( mY * quat.mX ) ),
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( ( ( ( mW * quat.mW ) - ( mX * quat.mX ) ) - ( mY * quat.mY ) ) - ( mZ * quat.mZ ) )
|
|
);
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|
}
|
|
|
|
inline Quat_ref & Quat_ref::operator *=( const Quat_ref & quat )
|
|
{
|
|
*this = *this * quat;
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|
return *this;
|
|
}
|
|
|
|
inline const vmVector3 rotate( const Quat_ref & quat, const vmVector3 & vec )
|
|
{
|
|
float tmpX, tmpY, tmpZ, tmpW;
|
|
tmpX = ( ( ( quat.getW() * vec.getX() ) + ( quat.getY() * vec.getZ() ) ) - ( quat.getZ() * vec.getY() ) );
|
|
tmpY = ( ( ( quat.getW() * vec.getY() ) + ( quat.getZ() * vec.getX() ) ) - ( quat.getX() * vec.getZ() ) );
|
|
tmpZ = ( ( ( quat.getW() * vec.getZ() ) + ( quat.getX() * vec.getY() ) ) - ( quat.getY() * vec.getX() ) );
|
|
tmpW = ( ( ( quat.getX() * vec.getX() ) + ( quat.getY() * vec.getY() ) ) + ( quat.getZ() * vec.getZ() ) );
|
|
return vmVector3(
|
|
( ( ( ( tmpW * quat.getX() ) + ( tmpX * quat.getW() ) ) - ( tmpY * quat.getZ() ) ) + ( tmpZ * quat.getY() ) ),
|
|
( ( ( ( tmpW * quat.getY() ) + ( tmpY * quat.getW() ) ) - ( tmpZ * quat.getX() ) ) + ( tmpX * quat.getZ() ) ),
|
|
( ( ( ( tmpW * quat.getZ() ) + ( tmpZ * quat.getW() ) ) - ( tmpX * quat.getY() ) ) + ( tmpY * quat.getX() ) )
|
|
);
|
|
}
|
|
|
|
inline const Quat_ref conj( const Quat_ref & quat )
|
|
{
|
|
return Quat_ref( -quat.getX(), -quat.getY(), -quat.getZ(), quat.getW() );
|
|
}
|
|
|
|
inline const Quat_ref select( const Quat_ref & quat0, const Quat_ref & quat1, bool select1 )
|
|
{
|
|
return Quat_ref(
|
|
( select1 )? quat1.getX() : quat0.getX(),
|
|
( select1 )? quat1.getY() : quat0.getY(),
|
|
( select1 )? quat1.getZ() : quat0.getZ(),
|
|
( select1 )? quat1.getW() : quat0.getW()
|
|
);
|
|
}
|
|
|
|
|
|
|
|
#define LOOPCOUNT 1000
|
|
#define NUM_CYCLES 10000
|
|
#define DATA_SIZE 1024
|
|
|
|
int Test_quat_aos_neon(void)
|
|
{
|
|
|
|
return 0;
|
|
}
|
|
|
|
#endif
|
|
|