1#ifndef BOOST_QVM_QUAT_VEC_OPERATIONS_HPP_INCLUDED
2#define BOOST_QVM_QUAT_VEC_OPERATIONS_HPP_INCLUDED
3
4// Copyright 2008-2022 Emil Dotchevski and Reverge Studios, Inc.
5
6// Distributed under the Boost Software License, Version 1.0. (See accompanying
7// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt)
8
9#include <boost/qvm/quat_traits.hpp>
10#include <boost/qvm/deduce_vec.hpp>
11#include <boost/qvm/config.hpp>
12#include <boost/qvm/enable_if.hpp>
13
14namespace boost { namespace qvm {
15
16template <class A,class B>
17BOOST_QVM_CONSTEXPR BOOST_QVM_INLINE_OPERATIONS
18typename lazy_enable_if_c<
19 is_quat<A>::value &&
20 is_vec<B>::value && vec_traits<B>::dim==3,
21 deduce_vec2<A,B,3> >::type
22operator*( A const & a, B const & b )
23 {
24 typedef typename deduce_vec2<A,B,3>::type R;
25 typedef typename quat_traits<A>::scalar_type TA;
26 typedef typename vec_traits<B>::scalar_type TB;
27 TA const aa = quat_traits<A>::template read_element<0>(a);
28 TA const ab = quat_traits<A>::template read_element<1>(a);
29 TA const ac = quat_traits<A>::template read_element<2>(a);
30 TA const ad = quat_traits<A>::template read_element<3>(a);
31 TA const t2 = aa*ab;
32 TA const t3 = aa*ac;
33 TA const t4 = aa*ad;
34 TA const t5 = -ab*ab;
35 TA const t6 = ab*ac;
36 TA const t7 = ab*ad;
37 TA const t8 = -ac*ac;
38 TA const t9 = ac*ad;
39 TA const t10 = -ad*ad;
40 TB const bx = vec_traits<B>::template read_element<0>(b);
41 TB const by = vec_traits<B>::template read_element<1>(b);
42 TB const bz = vec_traits<B>::template read_element<2>(b);
43 R r;
44 write_vec_element<0>(r, 2*((t8+t10)*bx + (t6-t4)*by + (t3+t7)*bz) + bx);
45 write_vec_element<1>(r, 2*((t4+t6)*bx + (t5+t10)*by + (t9-t2)*bz) + by);
46 write_vec_element<2>(r, 2*((t7-t3)*bx + (t2+t9)*by + (t5+t8)*bz) + bz);
47 return r;
48 }
49
50namespace
51sfinae
52 {
53 using ::boost::qvm::operator*;
54 }
55
56} }
57
58#endif
59

source code of boost/libs/qvm/include/boost/qvm/quat_vec_operations.hpp