ACE3/extensions/common/glm/gtx/simd_quat.hpp

///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
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/// all copies or substantial portions of the Software.
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/// THE SOFTWARE.
///
/// @ref gtx_simd_quat
/// @file glm/gtx/simd_quat.hpp
/// @date 2013-04-22 / 2014-11-25
/// @author Christophe Riccio
///
/// @see core (dependence)
///
/// @defgroup gtx_simd_quat GLM_GTX_simd_quat
/// @ingroup gtx
/// 
/// @brief SIMD implementation of quat type.
/// 
/// <glm/gtx/simd_quat.hpp> need to be included to use these functionalities.
///////////////////////////////////////////////////////////////////////////////////

#pragma once

// Dependency:
#include "../glm.hpp"
#include "../gtc/quaternion.hpp"
#include "../gtx/fast_trigonometry.hpp"

#if(GLM_ARCH != GLM_ARCH_PURE)

#if(GLM_ARCH & GLM_ARCH_SSE2)
#   include "../gtx/simd_mat4.hpp"
#else
#    error "GLM: GLM_GTX_simd_quat requires compiler support of SSE2 through intrinsics"
#endif

#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
#    pragma message("GLM: GLM_GTX_simd_quat extension included")
#endif

// Warning silencer for nameless struct/union.
#if (GLM_COMPILER & GLM_COMPILER_VC)
#   pragma warning(push)
#   pragma warning(disable:4201)   // warning C4201: nonstandard extension used : nameless struct/union
#endif

namespace glm{
namespace detail
{
    GLM_ALIGNED_STRUCT(16) fquatSIMD
    {
        typedef __m128 value_type;
        typedef std::size_t size_type;
        static size_type value_size();

        typedef fquatSIMD type;
        typedef tquat<bool, defaultp> bool_type;

#ifdef GLM_SIMD_ENABLE_XYZW_UNION
        union
        {
            __m128 Data;
            struct {float x, y, z, w;};
        };
#else
        __m128 Data;
#endif

        //////////////////////////////////////
        // Implicit basic constructors

        fquatSIMD();
        fquatSIMD(__m128 const & Data);
        fquatSIMD(fquatSIMD const & q);

        //////////////////////////////////////
        // Explicit basic constructors

        explicit fquatSIMD(
            ctor);
        explicit fquatSIMD(
            float const & w, 
            float const & x, 
            float const & y, 
            float const & z);
        explicit fquatSIMD(
            quat const & v);
        explicit fquatSIMD(
            vec3 const & eulerAngles);
        

        //////////////////////////////////////
        // Unary arithmetic operators

        fquatSIMD& operator =(fquatSIMD const & q);
        fquatSIMD& operator*=(float const & s);
        fquatSIMD& operator/=(float const & s);
    };


    //////////////////////////////////////
    // Arithmetic operators

    detail::fquatSIMD operator- (
        detail::fquatSIMD const & q);

    detail::fquatSIMD operator+ ( 
        detail::fquatSIMD const & q, 
        detail::fquatSIMD const & p); 

    detail::fquatSIMD operator* ( 
        detail::fquatSIMD const & q, 
        detail::fquatSIMD const & p); 

    detail::fvec4SIMD operator* (
        detail::fquatSIMD const & q, 
        detail::fvec4SIMD const & v);

    detail::fvec4SIMD operator* (
        detail::fvec4SIMD const & v,
        detail::fquatSIMD const & q);

    detail::fquatSIMD operator* (
        detail::fquatSIMD const & q, 
        float s);

    detail::fquatSIMD operator* (
        float s,
        detail::fquatSIMD const & q);

    detail::fquatSIMD operator/ (
        detail::fquatSIMD const & q, 
        float s);

}//namespace detail

    /// @addtogroup gtx_simd_quat
    /// @{

    typedef glm::detail::fquatSIMD simdQuat;

    //! Convert a simdQuat to a quat.
    /// @see gtx_simd_quat
    quat quat_cast(
        detail::fquatSIMD const & x);

    //! Convert a simdMat4 to a simdQuat.
    /// @see gtx_simd_quat
    detail::fquatSIMD quatSIMD_cast(
        detail::fmat4x4SIMD const & m);

    //! Converts a mat4 to a simdQuat.
    /// @see gtx_simd_quat
    template <typename T, precision P>
    detail::fquatSIMD quatSIMD_cast(
        tmat4x4<T, P> const & m);

    //! Converts a mat3 to a simdQuat.
    /// @see gtx_simd_quat
    template <typename T, precision P>
    detail::fquatSIMD quatSIMD_cast(
        tmat3x3<T, P> const & m);

    //! Convert a simdQuat to a simdMat4
    /// @see gtx_simd_quat
    detail::fmat4x4SIMD mat4SIMD_cast(
        detail::fquatSIMD const & q);

    //! Converts a simdQuat to a standard mat4.
    /// @see gtx_simd_quat
    mat4 mat4_cast(
        detail::fquatSIMD const & q);


    /// Returns the length of the quaternion. 
    /// 
    /// @see gtx_simd_quat
    float length(
        detail::fquatSIMD const & x);

    /// Returns the normalized quaternion. 
    /// 
    /// @see gtx_simd_quat
    detail::fquatSIMD normalize(
        detail::fquatSIMD const & x);

    /// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ... 
    /// 
    /// @see gtx_simd_quat
    float dot(
        detail::fquatSIMD const & q1, 
        detail::fquatSIMD const & q2);

    /// Spherical linear interpolation of two quaternions.
    /// The interpolation is oriented and the rotation is performed at constant speed.
    /// For short path spherical linear interpolation, use the slerp function.
    /// 
    /// @param x A quaternion
    /// @param y A quaternion
    /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
    /// @tparam T Value type used to build the quaternion. Supported: half, float or double.
    /// @see gtx_simd_quat
    /// @see - slerp(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a) 
    detail::fquatSIMD mix(
        detail::fquatSIMD const & x, 
        detail::fquatSIMD const & y, 
        float const & a);

    /// Linear interpolation of two quaternions. 
    /// The interpolation is oriented.
    /// 
    /// @param x A quaternion
    /// @param y A quaternion
    /// @param a Interpolation factor. The interpolation is defined in the range [0, 1].
    /// @tparam T Value type used to build the quaternion. Supported: half, float or double.
    /// @see gtx_simd_quat
    detail::fquatSIMD lerp(
        detail::fquatSIMD const & x, 
        detail::fquatSIMD const & y, 
        float const & a);

    /// Spherical linear interpolation of two quaternions.
    /// The interpolation always take the short path and the rotation is performed at constant speed.
    /// 
    /// @param x A quaternion
    /// @param y A quaternion
    /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
    /// @tparam T Value type used to build the quaternion. Supported: half, float or double.
    /// @see gtx_simd_quat
    detail::fquatSIMD slerp(
        detail::fquatSIMD const & x, 
        detail::fquatSIMD const & y, 
        float const & a);


    /// Faster spherical linear interpolation of two unit length quaternions.
    ///
    /// This is the same as mix(), except for two rules:
    ///   1) The two quaternions must be unit length.
    ///   2) The interpolation factor (a) must be in the range [0, 1].
    ///
    /// This will use the equivalent to fastAcos() and fastSin().
    ///
    /// @see gtx_simd_quat
    /// @see - mix(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a) 
    detail::fquatSIMD fastMix(
        detail::fquatSIMD const & x, 
        detail::fquatSIMD const & y, 
        float const & a);

    /// Identical to fastMix() except takes the shortest path.
    ///
    /// The same rules apply here as those in fastMix(). Both quaternions must be unit length and 'a' must be
    /// in the range [0, 1].
    ///
    /// @see - fastMix(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a) 
    /// @see - slerp(detail::fquatSIMD const & x, detail::fquatSIMD const & y, T const & a) 
    detail::fquatSIMD fastSlerp(
        detail::fquatSIMD const & x, 
        detail::fquatSIMD const & y, 
        float const & a);


    /// Returns the q conjugate. 
    /// 
    /// @see gtx_simd_quat
    detail::fquatSIMD conjugate(
        detail::fquatSIMD const & q);

    /// Returns the q inverse. 
    /// 
    /// @see gtx_simd_quat
    detail::fquatSIMD inverse(
        detail::fquatSIMD const & q);

    /// Build a quaternion from an angle and a normalized axis.
    ///
    /// @param angle Angle expressed in radians.
    /// @param axis Axis of the quaternion, must be normalized. 
    ///
    /// @see gtx_simd_quat
    detail::fquatSIMD angleAxisSIMD(
        float const & angle, 
        vec3 const & axis);

    /// Build a quaternion from an angle and a normalized axis. 
    ///
    /// @param angle Angle expressed in radians.
    /// @param x x component of the x-axis, x, y, z must be a normalized axis
    /// @param y y component of the y-axis, x, y, z must be a normalized axis
    /// @param z z component of the z-axis, x, y, z must be a normalized axis
    ///
    /// @see gtx_simd_quat
    detail::fquatSIMD angleAxisSIMD(
        float const & angle, 
        float const & x, 
        float const & y, 
        float const & z);

    // TODO: Move this to somewhere more appropriate. Used with fastMix() and fastSlerp().
    /// Performs the equivalent of glm::fastSin() on each component of the given __m128.
    __m128 fastSin(__m128 x);

    /// @}
}//namespace glm

#include "simd_quat.inl"


#if (GLM_COMPILER & GLM_COMPILER_VC)
#   pragma warning(pop)
#endif


#endif//(GLM_ARCH != GLM_ARCH_PURE)