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jiri
2020-01-08 21:32:02 +00:00
parent ef02c16f28
commit 2dd7737825
2 changed files with 44 additions and 11 deletions
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36
quaternion.cc
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@@ -27,6 +27,35 @@ using namespace LA_Vecmat3;
//and instantize the templates for the types needed
template<typename T>
Quaternion<T>& Quaternion<T>::normalize(T *getnorm, bool unique_sign)
{
T nn=norm();
if(getnorm) *getnorm=nn;
if(unique_sign && q[0]<0) nn= -nn;
*this /= nn;
return *this;
};
template<>
Quaternion<float> & Quaternion<float>::fast_normalize(bool unique_sign)
{
float nn=fast_sqrtinv(normsqr());
if(unique_sign && q[0]<0) nn= -nn;
*this *= nn;
return *this;
}
template<typename T>
Quaternion<T>& Quaternion<T>::fast_normalize(bool unique_sign)
{
return normalize(NULL,unique_sign);
};
template<typename T>
Quaternion<T> Quaternion<T>::operator*(const Quaternion<T> &rhs) const
{
@@ -82,6 +111,7 @@ to[1] = (q00+q22-q11-q33) * from[1];
to[2] = (q00+q33-q11-q22) * from[2];
}
T q01= q[0]*q[1];
T q02= q[0]*q[2];
T q03= q[0]*q[3];
@@ -121,7 +151,7 @@ if(grad)
grad[1][0]= -q[3]*f0 + q[0]*f1 + q[1]*f2;
grad[1][1]= q[2]*f0 - q[1]*f1 + q[0]*f2;
grad[1][2]= q[1]*f0 + q[2]*f1 + q[3]*2;
grad[1][2]= q[1]*f0 + q[2]*f1 + q[3]*f2;
grad[1][3]= -q[0]*f0 - q[3]*f1 + q[2]*f2;
grad[2][0]= q[2]*f0 - q[1]*f1 + q[0]*f2;
@@ -376,10 +406,6 @@ r *= ::pow(xnorm,y);
return r;
}
//force instantization
#define INSTANTIZE(T) \
template class Quaternion<T>; \