322 lines
8.4 KiB
C++
322 lines
8.4 KiB
C++
/*
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Copyright (c) 2003-2006 Gino van den Bergen / Erwin Coumans http://continuousphysics.com/Bullet/
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This software is provided 'as-is', without any express or implied warranty.
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In no event will the authors be held liable for any damages arising from the use of this software.
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Permission is granted to anyone to use this software for any purpose,
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including commercial applications, and to alter it and redistribute it freely,
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subject to the following restrictions:
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1. The origin of this software must not be misrepresented; you must not claim that you wrote the original software. If you use this software in a product, an acknowledgment in the product documentation would be appreciated but is not required.
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2. Altered source versions must be plainly marked as such, and must not be misrepresented as being the original software.
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3. This notice may not be removed or altered from any source distribution.
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*/
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#ifndef SIMD__QUATERNION_H_
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#define SIMD__QUATERNION_H_
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#include "btVector3.h"
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class btQuaternion : public btQuadWord {
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public:
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btQuaternion() {}
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// template <typename btScalar>
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// explicit Quaternion(const btScalar *v) : Tuple4<btScalar>(v) {}
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btQuaternion(const btScalar& x, const btScalar& y, const btScalar& z, const btScalar& w)
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: btQuadWord(x, y, z, w)
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{}
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btQuaternion(const btVector3& axis, const btScalar& angle)
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{
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setRotation(axis, angle);
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}
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btQuaternion(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
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{
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setEuler(yaw, pitch, roll);
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}
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void setRotation(const btVector3& axis, const btScalar& angle)
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{
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btScalar d = axis.length();
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assert(d != btScalar(0.0));
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btScalar s = btSin(angle * btScalar(0.5)) / d;
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setValue(axis.x() * s, axis.y() * s, axis.z() * s,
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btCos(angle * btScalar(0.5)));
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}
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void setEuler(const btScalar& yaw, const btScalar& pitch, const btScalar& roll)
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{
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btScalar halfYaw = btScalar(yaw) * btScalar(0.5);
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btScalar halfPitch = btScalar(pitch) * btScalar(0.5);
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btScalar halfRoll = btScalar(roll) * btScalar(0.5);
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btScalar cosYaw = btCos(halfYaw);
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btScalar sinYaw = btSin(halfYaw);
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btScalar cosPitch = btCos(halfPitch);
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btScalar sinPitch = btSin(halfPitch);
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btScalar cosRoll = btCos(halfRoll);
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btScalar sinRoll = btSin(halfRoll);
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setValue(cosRoll * sinPitch * cosYaw + sinRoll * cosPitch * sinYaw,
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cosRoll * cosPitch * sinYaw - sinRoll * sinPitch * cosYaw,
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sinRoll * cosPitch * cosYaw - cosRoll * sinPitch * sinYaw,
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cosRoll * cosPitch * cosYaw + sinRoll * sinPitch * sinYaw);
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}
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btQuaternion& operator+=(const btQuaternion& q)
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{
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m_x += q.x(); m_y += q.y(); m_z += q.z(); m_unusedW += q.m_unusedW;
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return *this;
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}
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btQuaternion& operator-=(const btQuaternion& q)
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{
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m_x -= q.x(); m_y -= q.y(); m_z -= q.z(); m_unusedW -= q.m_unusedW;
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return *this;
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}
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btQuaternion& operator*=(const btScalar& s)
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{
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m_x *= s; m_y *= s; m_z *= s; m_unusedW *= s;
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return *this;
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}
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btQuaternion& operator*=(const btQuaternion& q)
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{
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setValue(m_unusedW * q.x() + m_x * q.m_unusedW + m_y * q.z() - m_z * q.y(),
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m_unusedW * q.y() + m_y * q.m_unusedW + m_z * q.x() - m_x * q.z(),
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m_unusedW * q.z() + m_z * q.m_unusedW + m_x * q.y() - m_y * q.x(),
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m_unusedW * q.m_unusedW - m_x * q.x() - m_y * q.y() - m_z * q.z());
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return *this;
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}
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btScalar dot(const btQuaternion& q) const
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{
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return m_x * q.x() + m_y * q.y() + m_z * q.z() + m_unusedW * q.m_unusedW;
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}
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btScalar length2() const
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{
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return dot(*this);
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}
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btScalar length() const
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{
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return btSqrt(length2());
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}
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btQuaternion& normalize()
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{
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return *this /= length();
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}
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SIMD_FORCE_INLINE btQuaternion
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operator*(const btScalar& s) const
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{
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return btQuaternion(x() * s, y() * s, z() * s, m_unusedW * s);
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}
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btQuaternion operator/(const btScalar& s) const
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{
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assert(s != btScalar(0.0));
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return *this * (btScalar(1.0) / s);
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}
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btQuaternion& operator/=(const btScalar& s)
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{
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assert(s != btScalar(0.0));
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return *this *= btScalar(1.0) / s;
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}
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btQuaternion normalized() const
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{
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return *this / length();
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}
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btScalar angle(const btQuaternion& q) const
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{
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btScalar s = btSqrt(length2() * q.length2());
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assert(s != btScalar(0.0));
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return btAcos(dot(q) / s);
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}
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btScalar getAngle() const
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{
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btScalar s = btScalar(2.) * btAcos(m_unusedW);
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return s;
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}
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btQuaternion inverse() const
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{
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return btQuaternion(m_x, m_y, m_z, -m_unusedW);
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}
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SIMD_FORCE_INLINE btQuaternion
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operator+(const btQuaternion& q2) const
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{
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const btQuaternion& q1 = *this;
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return btQuaternion(q1.x() + q2.x(), q1.y() + q2.y(), q1.z() + q2.z(), q1.m_unusedW + q2.m_unusedW);
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}
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SIMD_FORCE_INLINE btQuaternion
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operator-(const btQuaternion& q2) const
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{
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const btQuaternion& q1 = *this;
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return btQuaternion(q1.x() - q2.x(), q1.y() - q2.y(), q1.z() - q2.z(), q1.m_unusedW - q2.m_unusedW);
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}
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SIMD_FORCE_INLINE btQuaternion operator-() const
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{
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const btQuaternion& q2 = *this;
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return btQuaternion( - q2.x(), - q2.y(), - q2.z(), - q2.m_unusedW);
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}
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SIMD_FORCE_INLINE btQuaternion farthest( const btQuaternion& qd) const
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{
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btQuaternion diff,sum;
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diff = *this - qd;
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sum = *this + qd;
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if( diff.dot(diff) > sum.dot(sum) )
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return qd;
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return (-qd);
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}
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btQuaternion slerp(const btQuaternion& q, const btScalar& t) const
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{
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btScalar theta = angle(q);
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if (theta != btScalar(0.0))
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{
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btScalar d = btScalar(1.0) / btSin(theta);
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btScalar s0 = btSin((btScalar(1.0) - t) * theta);
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btScalar s1 = btSin(t * theta);
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return btQuaternion((m_x * s0 + q.x() * s1) * d,
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(m_y * s0 + q.y() * s1) * d,
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(m_z * s0 + q.z() * s1) * d,
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(m_unusedW * s0 + q.m_unusedW * s1) * d);
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}
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else
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{
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return *this;
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}
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}
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SIMD_FORCE_INLINE const btScalar& getW() const { return m_unusedW; }
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};
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SIMD_FORCE_INLINE btQuaternion
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operator-(const btQuaternion& q)
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{
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return btQuaternion(-q.x(), -q.y(), -q.z(), -q.w());
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}
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SIMD_FORCE_INLINE btQuaternion
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operator*(const btQuaternion& q1, const btQuaternion& q2) {
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return btQuaternion(q1.w() * q2.x() + q1.x() * q2.w() + q1.y() * q2.z() - q1.z() * q2.y(),
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q1.w() * q2.y() + q1.y() * q2.w() + q1.z() * q2.x() - q1.x() * q2.z(),
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q1.w() * q2.z() + q1.z() * q2.w() + q1.x() * q2.y() - q1.y() * q2.x(),
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q1.w() * q2.w() - q1.x() * q2.x() - q1.y() * q2.y() - q1.z() * q2.z());
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}
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SIMD_FORCE_INLINE btQuaternion
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operator*(const btQuaternion& q, const btVector3& w)
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{
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return btQuaternion( q.w() * w.x() + q.y() * w.z() - q.z() * w.y(),
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q.w() * w.y() + q.z() * w.x() - q.x() * w.z(),
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q.w() * w.z() + q.x() * w.y() - q.y() * w.x(),
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-q.x() * w.x() - q.y() * w.y() - q.z() * w.z());
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}
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SIMD_FORCE_INLINE btQuaternion
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operator*(const btVector3& w, const btQuaternion& q)
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{
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return btQuaternion( w.x() * q.w() + w.y() * q.z() - w.z() * q.y(),
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w.y() * q.w() + w.z() * q.x() - w.x() * q.z(),
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w.z() * q.w() + w.x() * q.y() - w.y() * q.x(),
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-w.x() * q.x() - w.y() * q.y() - w.z() * q.z());
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}
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SIMD_FORCE_INLINE btScalar
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dot(const btQuaternion& q1, const btQuaternion& q2)
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{
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return q1.dot(q2);
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}
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SIMD_FORCE_INLINE btScalar
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length(const btQuaternion& q)
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{
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return q.length();
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}
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SIMD_FORCE_INLINE btScalar
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angle(const btQuaternion& q1, const btQuaternion& q2)
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{
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return q1.angle(q2);
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}
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SIMD_FORCE_INLINE btQuaternion
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inverse(const btQuaternion& q)
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{
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return q.inverse();
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}
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SIMD_FORCE_INLINE btQuaternion
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slerp(const btQuaternion& q1, const btQuaternion& q2, const btScalar& t)
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{
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return q1.slerp(q2, t);
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}
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SIMD_FORCE_INLINE btVector3
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quatRotate(const btQuaternion& rotation, const btVector3& v)
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{
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btQuaternion q = rotation * v;
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q *= rotation.inverse();
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return btVector3(q.getX(),q.getY(),q.getZ());
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}
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SIMD_FORCE_INLINE btQuaternion
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shortestArcQuat(const btVector3& v0, const btVector3& v1) // Game Programming Gems 2.10. make sure v0,v1 are normalized
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{
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btVector3 c = v0.cross(v1);
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btScalar d = v0.dot(v1);
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if (d < -1.0 + SIMD_EPSILON)
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return btQuaternion(0.0f,1.0f,0.0f,0.0f); // just pick any vector
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btScalar s = btSqrt((1.0f + d) * 2.0f);
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btScalar rs = 1.0f / s;
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return btQuaternion(c.getX()*rs,c.getY()*rs,c.getZ()*rs,s * 0.5f);
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}
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SIMD_FORCE_INLINE btQuaternion
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shortestArcQuatNormalize(btVector3 v0,btVector3 v1)
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{
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v0.normalize();
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v1.normalize();
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return shortestArcQuat(v0,v1);
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}
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#endif
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