59 lines
1.9 KiB
C++
59 lines
1.9 KiB
C++
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#ifndef BOOST_QVM_QUAT_VEC_OPERATIONS_HPP_INCLUDED
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#define BOOST_QVM_QUAT_VEC_OPERATIONS_HPP_INCLUDED
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// Copyright 2008-2022 Emil Dotchevski and Reverge Studios, Inc.
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// Distributed under the Boost Software License, Version 1.0. (See accompanying
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// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
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#include <boost/qvm/quat_traits.hpp>
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#include <boost/qvm/deduce_vec.hpp>
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#include <boost/qvm/config.hpp>
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#include <boost/qvm/enable_if.hpp>
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namespace boost { namespace qvm {
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template <class A,class B>
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BOOST_QVM_CONSTEXPR BOOST_QVM_INLINE_OPERATIONS
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typename lazy_enable_if_c<
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is_quat<A>::value &&
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is_vec<B>::value && vec_traits<B>::dim==3,
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deduce_vec2<A,B,3> >::type
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operator*( A const & a, B const & b )
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{
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typedef typename deduce_vec2<A,B,3>::type R;
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typedef typename quat_traits<A>::scalar_type TA;
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typedef typename vec_traits<B>::scalar_type TB;
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TA const aa = quat_traits<A>::template read_element<0>(a);
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TA const ab = quat_traits<A>::template read_element<1>(a);
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TA const ac = quat_traits<A>::template read_element<2>(a);
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TA const ad = quat_traits<A>::template read_element<3>(a);
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TA const t2 = aa*ab;
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TA const t3 = aa*ac;
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TA const t4 = aa*ad;
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TA const t5 = -ab*ab;
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TA const t6 = ab*ac;
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TA const t7 = ab*ad;
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TA const t8 = -ac*ac;
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TA const t9 = ac*ad;
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TA const t10 = -ad*ad;
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TB const bx = vec_traits<B>::template read_element<0>(b);
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TB const by = vec_traits<B>::template read_element<1>(b);
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TB const bz = vec_traits<B>::template read_element<2>(b);
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R r;
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write_vec_element<0>(r, 2*((t8+t10)*bx + (t6-t4)*by + (t3+t7)*bz) + bx);
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write_vec_element<1>(r, 2*((t4+t6)*bx + (t5+t10)*by + (t9-t2)*bz) + by);
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write_vec_element<2>(r, 2*((t7-t3)*bx + (t2+t9)*by + (t5+t8)*bz) + bz);
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return r;
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}
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namespace
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sfinae
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{
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using ::boost::qvm::operator*;
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}
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} }
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#endif
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