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#include "Vec3f.h"
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#include "Vec3f.h"
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#include "Quaternion.h"
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#include "Quaternion.h"
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namespace CGLA
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namespace CGLA
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{
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{
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  void Quaternion::make_rot(float angle, const Vec3f& v)
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  void Quaternion::make_rot(float angle, const Vec3f& v)
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  {
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  {
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    angle = angle/2;
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    angle = angle/2;
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    qv = CGLA::normalize(v);
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    qv = CGLA::normalize(v);
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    qv *= sin(angle);
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    qv *= sin(angle);
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    qw  = cos(angle);
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    qw  = cos(angle);
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  };
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  };
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  void Quaternion::make_rot(const Vec3f& _v0, const Vec3f& _v1)
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  void Quaternion::make_rot(const Vec3f& _v0, const Vec3f& _v1)
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  {
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  {
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    Vec3f v0 = CGLA::normalize(_v0);
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    Vec3f v0 = CGLA::normalize(_v0);
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    Vec3f v1 = CGLA::normalize(_v1);
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    Vec3f v1 = CGLA::normalize(_v1);
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    qv = cross(v0, v1);
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    qv = cross(v0, v1);
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    float l = qv.length();
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    float l = qv.length();
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    if(l<TINY)
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    if(l<TINY)
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      qv = Vec3f(1,0,0);
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      qv = Vec3f(1,0,0);
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    else
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    else
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      qv.normalize();
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      qv.normalize();
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    float a = acos(dot(v0,v1))/2;
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    float a = acos(dot(v0,v1))/2;
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    qw  = cos(a);
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    qw  = cos(a);
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    qv *= sin(a);
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    qv *= sin(a);
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  };
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  };
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  void Quaternion::get_rot(float& angle, Vec3f& v)
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  void Quaternion::get_rot(float& angle, Vec3f& v)
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  {
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  {
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    angle=2*acos(qw);
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    angle=2*acos(qw);
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    if (angle<TINY)
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    if (angle<TINY)
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      v = Vec3f(1,0,0);
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      v = Vec3f(1,0,0);
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    else
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    else
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      v = qv / sin(angle);
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      v = qv / sin(angle);
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    if (angle>M_PI)
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    if (angle>M_PI)
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      v = -v;
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      v = -v;
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    v.normalize();
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    v.normalize();
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  }
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  }
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  Mat3x3f Quaternion::get_mat3x3f() const
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  Mat3x3f Quaternion::get_mat3x3f() const
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  {
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  {
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    float s=2/norm();
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    float s=2/norm();
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    float m[9] = {1 - s*(qv[1]*qv[1]+qv[2]*qv[2]),
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    float m[9] = {1 - s*(qv[1]*qv[1]+qv[2]*qv[2]),
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		  s*(qv[0]*qv[1]-qw*qv[2]),
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		  s*(qv[0]*qv[1]-qw*qv[2]),
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		  s*(qv[0]*qv[2]+qw*qv[1]),
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		  s*(qv[0]*qv[2]+qw*qv[1]),
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		  s*(qv[0]*qv[1]+qw*qv[2]),
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		  s*(qv[0]*qv[1]+qw*qv[2]),
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		  1 - s*(qv[0]*qv[0]+qv[2]*qv[2]),
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		  1 - s*(qv[0]*qv[0]+qv[2]*qv[2]),
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		  s*(qv[1]*qv[2]-qw*qv[0]),
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		  s*(qv[1]*qv[2]-qw*qv[0]),
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		  s*(qv[0]*qv[2]-qw*qv[1]),
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		  s*(qv[0]*qv[2]-qw*qv[1]),
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		  s*(qv[1]*qv[2]+qw*qv[0]),
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		  s*(qv[1]*qv[2]+qw*qv[0]),
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		  1 - s*(qv[0]*qv[0]+qv[1]*qv[1])};
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		  1 - s*(qv[0]*qv[0]+qv[1]*qv[1])};
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    Mat3x3f mat;
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    Mat3x3f mat;
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    raw_assign(mat, m);
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    raw_assign(mat, m);
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    return mat;
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    return mat;
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  }
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  }
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  //This function just need to call the right initialiser
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  //This function just need to call the right initialiser
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  Mat4x4f Quaternion::get_mat4x4f() const
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  Mat4x4f Quaternion::get_mat4x4f() const
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  {
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  {
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    float s=2/norm();
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    float s=2/norm();
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    float m[16] = {1 - s*(qv[1]*qv[1]+qv[2]*qv[2]),
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    float m[16] = {1 - s*(qv[1]*qv[1]+qv[2]*qv[2]),
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		   s*(qv[0]*qv[1]-qw*qv[2]),
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		   s*(qv[0]*qv[1]-qw*qv[2]),
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		   s*(qv[0]*qv[2]+qw*qv[1]),
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		   s*(qv[0]*qv[2]+qw*qv[1]),
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		   float(0),
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		   float(0),
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		   s*(qv[0]*qv[1]+qw*qv[2]),
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		   s*(qv[0]*qv[1]+qw*qv[2]),
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		   1 - s*(qv[0]*qv[0]+qv[2]*qv[2]),
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		   1 - s*(qv[0]*qv[0]+qv[2]*qv[2]),
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		   s*(qv[1]*qv[2]-qw*qv[0]),
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		   s*(qv[1]*qv[2]-qw*qv[0]),
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		   float(0),
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		   float(0),
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		   s*(qv[0]*qv[2]-qw*qv[1]),
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		   s*(qv[0]*qv[2]-qw*qv[1]),
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		   s*(qv[1]*qv[2]+qw*qv[0]),
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		   s*(qv[1]*qv[2]+qw*qv[0]),
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		   1 - s*(qv[0]*qv[0]+qv[1]*qv[1]),
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		   1 - s*(qv[0]*qv[0]+qv[1]*qv[1]),
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		   float(0),
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		   float(0),
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		   float(0),
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		   float(0),
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		   float(0),
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		   float(0),
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		   float(0),
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		   float(0),
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		   float(1)};
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		   float(1)};
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    Mat4x4f mat;
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    Mat4x4f mat;
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    raw_assign(mat, m);
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    raw_assign(mat, m);
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    return mat;
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    return mat;
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  }
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  }
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  Vec3f Quaternion::apply(const Vec3f& vec) const
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  Vec3f Quaternion::apply(const Vec3f& vec) const
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  {
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  {
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    return Vec3f((*this)*Quaternion(vec)*inverse());
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    return Vec3f((*this)*Quaternion(vec)*inverse());
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  }
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  }
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}
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}
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