Add whatever I was working on for the last month

1 files changed, 144 insertions, 0 deletions

diff --git a/deps/include/glm/ext/quaternion_common.inl b/deps/include/glm/ext/quaternion_common.inl
new file mode 100644
index 0000000..ad171f9
--- /dev/null
+++ b/deps/include/glm/ext/quaternion_common.inl
@@ -0,0 +1,144 @@
+namespace glm
+{
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER qua<T, Q> mix(qua<T, Q> const& x, qua<T, Q> const& y, T a)
+	{
+		GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_FLOAT, "'mix' only accept floating-point inputs");
+
+		T const cosTheta = dot(x, y);
+
+		// Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator
+		if(cosTheta > static_cast<T>(1) - epsilon<T>())
+		{
+			// Linear interpolation
+			return qua<T, Q>::wxyz(
+				mix(x.w, y.w, a),
+				mix(x.x, y.x, a),
+				mix(x.y, y.y, a),
+				mix(x.z, y.z, a));
+		}
+		else
+		{
+			// Essential Mathematics, page 467
+			T angle = acos(cosTheta);
+			return (sin((static_cast<T>(1) - a) * angle) * x + sin(a * angle) * y) / sin(angle);
+		}
+	}
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> lerp(qua<T, Q> const& x, qua<T, Q> const& y, T a)
+	{
+		GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_FLOAT, "'lerp' only accept floating-point inputs");
+
+		// Lerp is only defined in [0, 1]
+		assert(a >= static_cast<T>(0));
+		assert(a <= static_cast<T>(1));
+
+		return x * (static_cast<T>(1) - a) + (y * a);
+	}
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER qua<T, Q> slerp(qua<T, Q> const& x, qua<T, Q> const& y, T a)
+	{
+		GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_FLOAT, "'slerp' only accept floating-point inputs");
+
+		qua<T, Q> z = y;
+
+		T cosTheta = dot(x, y);
+
+		// If cosTheta < 0, the interpolation will take the long way around the sphere.
+		// To fix this, one quat must be negated.
+		if(cosTheta < static_cast<T>(0))
+		{
+			z = -y;
+			cosTheta = -cosTheta;
+		}
+
+		// Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator
+		if(cosTheta > static_cast<T>(1) - epsilon<T>())
+		{
+			// Linear interpolation
+			return qua<T, Q>::wxyz(
+				mix(x.w, z.w, a),
+				mix(x.x, z.x, a),
+				mix(x.y, z.y, a),
+				mix(x.z, z.z, a));
+		}
+		else
+		{
+			// Essential Mathematics, page 467
+			T angle = acos(cosTheta);
+			return (sin((static_cast<T>(1) - a) * angle) * x + sin(a * angle) * z) / sin(angle);
+		}
+	}
+
+    template<typename T, typename S, qualifier Q>
+    GLM_FUNC_QUALIFIER qua<T, Q> slerp(qua<T, Q> const& x, qua<T, Q> const& y, T a, S k)
+    {
+        GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_FLOAT, "'slerp' only accept floating-point inputs");
+        GLM_STATIC_ASSERT(std::numeric_limits<S>::is_integer, "'slerp' only accept integer for spin count");
+
+        qua<T, Q> z = y;
+
+        T cosTheta = dot(x, y);
+
+        // If cosTheta < 0, the interpolation will take the long way around the sphere.
+        // To fix this, one quat must be negated.
+        if (cosTheta < static_cast<T>(0))
+        {
+            z = -y;
+            cosTheta = -cosTheta;
+        }
+
+        // Perform a linear interpolation when cosTheta is close to 1 to avoid side effect of sin(angle) becoming a zero denominator
+        if (cosTheta > static_cast<T>(1) - epsilon<T>())
+        {
+            // Linear interpolation
+            return qua<T, Q>::wxyz(
+                mix(x.w, z.w, a),
+                mix(x.x, z.x, a),
+                mix(x.y, z.y, a),
+                mix(x.z, z.z, a));
+        }
+        else
+        {
+            // Graphics Gems III, page 96
+            T angle = acos(cosTheta);
+            T phi = angle + static_cast<T>(k) * glm::pi<T>();
+            return (sin(angle - a * phi)* x + sin(a * phi) * z) / sin(angle);
+        }
+    }
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> conjugate(qua<T, Q> const& q)
+	{
+		return qua<T, Q>::wxyz(q.w, -q.x, -q.y, -q.z);
+	}
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER GLM_CONSTEXPR qua<T, Q> inverse(qua<T, Q> const& q)
+	{
+		return conjugate(q) / dot(q, q);
+	}
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER vec<4, bool, Q> isnan(qua<T, Q> const& q)
+	{
+		GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_FLOAT, "'isnan' only accept floating-point inputs");
+
+		return vec<4, bool, Q>(isnan(q.x), isnan(q.y), isnan(q.z), isnan(q.w));
+	}
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER vec<4, bool, Q> isinf(qua<T, Q> const& q)
+	{
+		GLM_STATIC_ASSERT(std::numeric_limits<T>::is_iec559 || GLM_CONFIG_UNRESTRICTED_FLOAT, "'isinf' only accept floating-point inputs");
+
+		return vec<4, bool, Q>(isinf(q.x), isinf(q.y), isinf(q.z), isinf(q.w));
+	}
+}//namespace glm
+
+#if GLM_CONFIG_SIMD == GLM_ENABLE
+#	include "quaternion_common_simd.inl"
+#endif
+