Merge branch 'spaces-merge' into roxie/webrtc-voice

1 files changed, 369 insertions, 369 deletions

diff --git a/indra/llmath/llquaternion.h b/indra/llmath/llquaternion.h
index aaa868352a..be7f119a2b 100644
--- a/indra/llmath/llquaternion.h
+++ b/indra/llmath/llquaternion.h
@@ -5,21 +5,21 @@
  * $LicenseInfo:firstyear=2000&license=viewerlgpl$
  * Second Life Viewer Source Code
  * Copyright (C) 2010, Linden Research, Inc.
- * 
+ *
  * This library is free software; you can redistribute it and/or
  * modify it under the terms of the GNU Lesser General Public
  * License as published by the Free Software Foundation;
  * version 2.1 of the License only.
- * 
+ *
  * This library is distributed in the hope that it will be useful,
  * but WITHOUT ANY WARRANTY; without even the implied warranty of
  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  * Lesser General Public License for more details.
- * 
+ *
  * You should have received a copy of the GNU Lesser General Public
  * License along with this library; if not, write to the Free Software
  * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
- * 
+ *
  * Linden Research, Inc., 945 Battery Street, San Francisco, CA  94111  USA
  * $/LicenseInfo$
  */
@@ -40,138 +40,138 @@ class LLVector3d;
 class LLMatrix4;
 class LLMatrix3;
 
-//	NOTA BENE: Quaternion code is written assuming Unit Quaternions!!!!
-//			   Moreover, it is written assuming that all vectors and matricies
-//			   passed as arguments are normalized and unitary respectively.
-//			   VERY VERY VERY VERY BAD THINGS will happen if these assumptions fail.
+//  NOTA BENE: Quaternion code is written assuming Unit Quaternions!!!!
+//             Moreover, it is written assuming that all vectors and matricies
+//             passed as arguments are normalized and unitary respectively.
+//             VERY VERY VERY VERY BAD THINGS will happen if these assumptions fail.
 
 static const U32 LENGTHOFQUAT = 4;
 
 class LLQuaternion
 {
 public:
-	F32 mQ[LENGTHOFQUAT];
-
-	static const LLQuaternion DEFAULT;
-
-	LLQuaternion();									// Initializes Quaternion to (0,0,0,1)
-	explicit LLQuaternion(const LLMatrix4 &mat);				// Initializes Quaternion from Matrix4
-	explicit LLQuaternion(const LLMatrix3 &mat);				// Initializes Quaternion from Matrix3
-	LLQuaternion(F32 x, F32 y, F32 z, F32 w);		// Initializes Quaternion to normalize(x, y, z, w)
-	LLQuaternion(F32 angle, const LLVector4 &vec);	// Initializes Quaternion to axis_angle2quat(angle, vec)
-	LLQuaternion(F32 angle, const LLVector3 &vec);	// Initializes Quaternion to axis_angle2quat(angle, vec)
-	LLQuaternion(const F32 *q);						// Initializes Quaternion to normalize(x, y, z, w)
-	LLQuaternion(const LLVector3 &x_axis,
-				 const LLVector3 &y_axis,
-				 const LLVector3 &z_axis);			// Initializes Quaternion from Matrix3 = [x_axis ; y_axis ; z_axis]
+    F32 mQ[LENGTHOFQUAT];
+
+    static const LLQuaternion DEFAULT;
+
+    LLQuaternion();                                 // Initializes Quaternion to (0,0,0,1)
+    explicit LLQuaternion(const LLMatrix4 &mat);                // Initializes Quaternion from Matrix4
+    explicit LLQuaternion(const LLMatrix3 &mat);                // Initializes Quaternion from Matrix3
+    LLQuaternion(F32 x, F32 y, F32 z, F32 w);       // Initializes Quaternion to normalize(x, y, z, w)
+    LLQuaternion(F32 angle, const LLVector4 &vec);  // Initializes Quaternion to axis_angle2quat(angle, vec)
+    LLQuaternion(F32 angle, const LLVector3 &vec);  // Initializes Quaternion to axis_angle2quat(angle, vec)
+    LLQuaternion(const F32 *q);                     // Initializes Quaternion to normalize(x, y, z, w)
+    LLQuaternion(const LLVector3 &x_axis,
+                 const LLVector3 &y_axis,
+                 const LLVector3 &z_axis);          // Initializes Quaternion from Matrix3 = [x_axis ; y_axis ; z_axis]
     explicit LLQuaternion(const LLSD &sd);          // Initializes Quaternion from LLSD array.
 
     LLSD getValue() const;
     void setValue(const LLSD& sd);
 
-	BOOL isIdentity() const;
-	BOOL isNotIdentity() const;
-	BOOL isFinite() const;									// checks to see if all values of LLQuaternion are finite
-	void quantize16(F32 lower, F32 upper);					// changes the vector to reflect quatization
-	void quantize8(F32 lower, F32 upper);							// changes the vector to reflect quatization
-	void loadIdentity();											// Loads the quaternion that represents the identity rotation
-
-	bool isEqualEps(const LLQuaternion &quat, F32 epsilon) const;
-	bool isNotEqualEps(const LLQuaternion &quat, F32 epsilon) const;
-
-	const LLQuaternion&	set(F32 x, F32 y, F32 z, F32 w);		// Sets Quaternion to normalize(x, y, z, w)
-	const LLQuaternion&	set(const LLQuaternion &quat);			// Copies Quaternion
-	const LLQuaternion&	set(const F32 *q);						// Sets Quaternion to normalize(quat[VX], quat[VY], quat[VZ], quat[VW])
-	const LLQuaternion&	set(const LLMatrix3 &mat);				// Sets Quaternion to mat2quat(mat)
-	const LLQuaternion&	set(const LLMatrix4 &mat);				// Sets Quaternion to mat2quat(mat)
+    BOOL isIdentity() const;
+    BOOL isNotIdentity() const;
+    BOOL isFinite() const;                                  // checks to see if all values of LLQuaternion are finite
+    void quantize16(F32 lower, F32 upper);                  // changes the vector to reflect quatization
+    void quantize8(F32 lower, F32 upper);                           // changes the vector to reflect quatization
+    void loadIdentity();                                            // Loads the quaternion that represents the identity rotation
+
+    bool isEqualEps(const LLQuaternion &quat, F32 epsilon) const;
+    bool isNotEqualEps(const LLQuaternion &quat, F32 epsilon) const;
+
+    const LLQuaternion& set(F32 x, F32 y, F32 z, F32 w);        // Sets Quaternion to normalize(x, y, z, w)
+    const LLQuaternion& set(const LLQuaternion &quat);          // Copies Quaternion
+    const LLQuaternion& set(const F32 *q);                      // Sets Quaternion to normalize(quat[VX], quat[VY], quat[VZ], quat[VW])
+    const LLQuaternion& set(const LLMatrix3 &mat);              // Sets Quaternion to mat2quat(mat)
+    const LLQuaternion& set(const LLMatrix4 &mat);              // Sets Quaternion to mat2quat(mat)
     const LLQuaternion& setFromAzimuthAndAltitude(F32 azimuth, F32 altitude);
-    
-	const LLQuaternion&	setAngleAxis(F32 angle, F32 x, F32 y, F32 z);	// Sets Quaternion to axis_angle2quat(angle, x, y, z)
-	const LLQuaternion&	setAngleAxis(F32 angle, const LLVector3 &vec);	// Sets Quaternion to axis_angle2quat(angle, vec)
-	const LLQuaternion&	setAngleAxis(F32 angle, const LLVector4 &vec);	// Sets Quaternion to axis_angle2quat(angle, vec)
-	const LLQuaternion&	setEulerAngles(F32 roll, F32 pitch, F32 yaw);	// Sets Quaternion to euler2quat(pitch, yaw, roll)
-
-	const LLQuaternion&	setQuatInit(F32 x, F32 y, F32 z, F32 w);	// deprecated
-	const LLQuaternion&	setQuat(const LLQuaternion &quat);			// deprecated
-	const LLQuaternion&	setQuat(const F32 *q);						// deprecated
-	const LLQuaternion&	setQuat(const LLMatrix3 &mat);				// deprecated
-	const LLQuaternion&	setQuat(const LLMatrix4 &mat);				// deprecated
-	const LLQuaternion&	setQuat(F32 angle, F32 x, F32 y, F32 z);	// deprecated
-	const LLQuaternion&	setQuat(F32 angle, const LLVector3 &vec);	// deprecated
-	const LLQuaternion&	setQuat(F32 angle, const LLVector4 &vec);	// deprecated
-	const LLQuaternion&	setQuat(F32 roll, F32 pitch, F32 yaw);		// deprecated
-
-	LLMatrix4	getMatrix4(void) const;							// Returns the Matrix4 equivalent of Quaternion
-	LLMatrix3	getMatrix3(void) const;							// Returns the Matrix3 equivalent of Quaternion
-	void		getAngleAxis(F32* angle, F32* x, F32* y, F32* z) const;	// returns rotation in radians about axis x,y,z
-	void		getAngleAxis(F32* angle, LLVector3 &vec) const;
-	void		getEulerAngles(F32 *roll, F32* pitch, F32 *yaw) const;
+
+    const LLQuaternion& setAngleAxis(F32 angle, F32 x, F32 y, F32 z);   // Sets Quaternion to axis_angle2quat(angle, x, y, z)
+    const LLQuaternion& setAngleAxis(F32 angle, const LLVector3 &vec);  // Sets Quaternion to axis_angle2quat(angle, vec)
+    const LLQuaternion& setAngleAxis(F32 angle, const LLVector4 &vec);  // Sets Quaternion to axis_angle2quat(angle, vec)
+    const LLQuaternion& setEulerAngles(F32 roll, F32 pitch, F32 yaw);   // Sets Quaternion to euler2quat(pitch, yaw, roll)
+
+    const LLQuaternion& setQuatInit(F32 x, F32 y, F32 z, F32 w);    // deprecated
+    const LLQuaternion& setQuat(const LLQuaternion &quat);          // deprecated
+    const LLQuaternion& setQuat(const F32 *q);                      // deprecated
+    const LLQuaternion& setQuat(const LLMatrix3 &mat);              // deprecated
+    const LLQuaternion& setQuat(const LLMatrix4 &mat);              // deprecated
+    const LLQuaternion& setQuat(F32 angle, F32 x, F32 y, F32 z);    // deprecated
+    const LLQuaternion& setQuat(F32 angle, const LLVector3 &vec);   // deprecated
+    const LLQuaternion& setQuat(F32 angle, const LLVector4 &vec);   // deprecated
+    const LLQuaternion& setQuat(F32 roll, F32 pitch, F32 yaw);      // deprecated
+
+    LLMatrix4   getMatrix4(void) const;                         // Returns the Matrix4 equivalent of Quaternion
+    LLMatrix3   getMatrix3(void) const;                         // Returns the Matrix3 equivalent of Quaternion
+    void        getAngleAxis(F32* angle, F32* x, F32* y, F32* z) const; // returns rotation in radians about axis x,y,z
+    void        getAngleAxis(F32* angle, LLVector3 &vec) const;
+    void        getEulerAngles(F32 *roll, F32* pitch, F32 *yaw) const;
     void        getAzimuthAndAltitude(F32 &azimuth, F32 &altitude);
 
-	F32	normalize();	// Normalizes Quaternion and returns magnitude
-	F32	normQuat();		// deprecated
-
-	const LLQuaternion&	conjugate(void);	// Conjugates Quaternion and returns result
-	const LLQuaternion&	conjQuat(void);		// deprecated
-
-	// Other useful methods
-	const LLQuaternion&	transpose();		// transpose (same as conjugate)
-	const LLQuaternion&	transQuat();		// deprecated
-
-	void			shortestArc(const LLVector3 &a, const LLVector3 &b);	// shortest rotation from a to b
-	const LLQuaternion& constrain(F32 radians);						// constrains rotation to a cone angle specified in radians
-
-	// Standard operators
-	friend std::ostream& operator<<(std::ostream &s, const LLQuaternion &a);					// Prints a
-	friend LLQuaternion operator+(const LLQuaternion &a, const LLQuaternion &b);	// Addition
-	friend LLQuaternion operator-(const LLQuaternion &a, const LLQuaternion &b);	// Subtraction
-	friend LLQuaternion operator-(const LLQuaternion &a);							// Negation
-	friend LLQuaternion operator*(F32 a, const LLQuaternion &q);					// Scale
-	friend LLQuaternion operator*(const LLQuaternion &q, F32 b);					// Scale
-	friend LLQuaternion operator*(const LLQuaternion &a, const LLQuaternion &b);	// Returns a * b
-	friend LLQuaternion operator~(const LLQuaternion &a);							// Returns a* (Conjugate of a)
-	bool operator==(const LLQuaternion &b) const;			// Returns a == b
-	bool operator!=(const LLQuaternion &b) const;			// Returns a != b
-	F64 operator[](int idx) const { return mQ[idx]; }
-
-	friend const LLQuaternion& operator*=(LLQuaternion &a, const LLQuaternion &b);	// Returns a * b
-
-	friend LLVector4 operator*(const LLVector4 &a, const LLQuaternion &rot);		// Rotates a by rot
-	friend LLVector3 operator*(const LLVector3 &a, const LLQuaternion &rot);		// Rotates a by rot
-	friend LLVector3d operator*(const LLVector3d &a, const LLQuaternion &rot);		// Rotates a by rot
-
-	// Non-standard operators
-	friend F32 dot(const LLQuaternion &a, const LLQuaternion &b);
-	friend LLQuaternion lerp(F32 t, const LLQuaternion &p, const LLQuaternion &q);		// linear interpolation (t = 0 to 1) from p to q
-	friend LLQuaternion lerp(F32 t, const LLQuaternion &q);								// linear interpolation (t = 0 to 1) from identity to q
-	friend LLQuaternion slerp(F32 t, const LLQuaternion &p, const LLQuaternion &q); 	// spherical linear interpolation from p to q
-	friend LLQuaternion slerp(F32 t, const LLQuaternion &q);							// spherical linear interpolation from identity to q
-	friend LLQuaternion nlerp(F32 t, const LLQuaternion &p, const LLQuaternion &q); 	// normalized linear interpolation from p to q
-	friend LLQuaternion nlerp(F32 t, const LLQuaternion &q); 							// normalized linear interpolation from p to q
-
-	LLVector3	packToVector3() const;						// Saves space by using the fact that our quaternions are normalized
-	void		unpackFromVector3(const LLVector3& vec);	// Saves space by using the fact that our quaternions are normalized
-
-	enum Order {
-		XYZ = 0,
-		YZX = 1,
-		ZXY = 2,
-		XZY = 3,
-		YXZ = 4,
-		ZYX = 5
-	};
-	// Creates a quaternions from maya's rotation representation,
-	// which is 3 rotations (in DEGREES) in the specified order
-	friend LLQuaternion mayaQ(F32 x, F32 y, F32 z, Order order);
-
-	// Conversions between Order and strings like "xyz" or "ZYX"
-	friend const char *OrderToString( const Order order );
-	friend Order StringToOrder( const char *str );
-
-	static BOOL parseQuat(const std::string& buf, LLQuaternion* value);
-
-	// For debugging, only
-	//static U32 mMultCount;
+    F32 normalize();    // Normalizes Quaternion and returns magnitude
+    F32 normQuat();     // deprecated
+
+    const LLQuaternion& conjugate(void);    // Conjugates Quaternion and returns result
+    const LLQuaternion& conjQuat(void);     // deprecated
+
+    // Other useful methods
+    const LLQuaternion& transpose();        // transpose (same as conjugate)
+    const LLQuaternion& transQuat();        // deprecated
+
+    void            shortestArc(const LLVector3 &a, const LLVector3 &b);    // shortest rotation from a to b
+    const LLQuaternion& constrain(F32 radians);                     // constrains rotation to a cone angle specified in radians
+
+    // Standard operators
+    friend std::ostream& operator<<(std::ostream &s, const LLQuaternion &a);                    // Prints a
+    friend LLQuaternion operator+(const LLQuaternion &a, const LLQuaternion &b);    // Addition
+    friend LLQuaternion operator-(const LLQuaternion &a, const LLQuaternion &b);    // Subtraction
+    friend LLQuaternion operator-(const LLQuaternion &a);                           // Negation
+    friend LLQuaternion operator*(F32 a, const LLQuaternion &q);                    // Scale
+    friend LLQuaternion operator*(const LLQuaternion &q, F32 b);                    // Scale
+    friend LLQuaternion operator*(const LLQuaternion &a, const LLQuaternion &b);    // Returns a * b
+    friend LLQuaternion operator~(const LLQuaternion &a);                           // Returns a* (Conjugate of a)
+    bool operator==(const LLQuaternion &b) const;           // Returns a == b
+    bool operator!=(const LLQuaternion &b) const;           // Returns a != b
+    F64 operator[](int idx) const { return mQ[idx]; }
+
+    friend const LLQuaternion& operator*=(LLQuaternion &a, const LLQuaternion &b);  // Returns a * b
+
+    friend LLVector4 operator*(const LLVector4 &a, const LLQuaternion &rot);        // Rotates a by rot
+    friend LLVector3 operator*(const LLVector3 &a, const LLQuaternion &rot);        // Rotates a by rot
+    friend LLVector3d operator*(const LLVector3d &a, const LLQuaternion &rot);      // Rotates a by rot
+
+    // Non-standard operators
+    friend F32 dot(const LLQuaternion &a, const LLQuaternion &b);
+    friend LLQuaternion lerp(F32 t, const LLQuaternion &p, const LLQuaternion &q);      // linear interpolation (t = 0 to 1) from p to q
+    friend LLQuaternion lerp(F32 t, const LLQuaternion &q);                             // linear interpolation (t = 0 to 1) from identity to q
+    friend LLQuaternion slerp(F32 t, const LLQuaternion &p, const LLQuaternion &q);     // spherical linear interpolation from p to q
+    friend LLQuaternion slerp(F32 t, const LLQuaternion &q);                            // spherical linear interpolation from identity to q
+    friend LLQuaternion nlerp(F32 t, const LLQuaternion &p, const LLQuaternion &q);     // normalized linear interpolation from p to q
+    friend LLQuaternion nlerp(F32 t, const LLQuaternion &q);                            // normalized linear interpolation from p to q
+
+    LLVector3   packToVector3() const;                      // Saves space by using the fact that our quaternions are normalized
+    void        unpackFromVector3(const LLVector3& vec);    // Saves space by using the fact that our quaternions are normalized
+
+    enum Order {
+        XYZ = 0,
+        YZX = 1,
+        ZXY = 2,
+        XZY = 3,
+        YXZ = 4,
+        ZYX = 5
+    };
+    // Creates a quaternions from maya's rotation representation,
+    // which is 3 rotations (in DEGREES) in the specified order
+    friend LLQuaternion mayaQ(F32 x, F32 y, F32 z, Order order);
+
+    // Conversions between Order and strings like "xyz" or "ZYX"
+    friend const char *OrderToString( const Order order );
+    friend Order StringToOrder( const char *str );
+
+    static BOOL parseQuat(const std::string& buf, LLQuaternion* value);
+
+    // For debugging, only
+    //static U32 mMultCount;
 };
 
 inline LLSD LLQuaternion::getValue() const
@@ -193,369 +193,369 @@ inline void LLQuaternion::setValue(const LLSD& sd)
 }
 
 // checker
-inline BOOL	LLQuaternion::isFinite() const
+inline BOOL LLQuaternion::isFinite() const
 {
-	return (llfinite(mQ[VX]) && llfinite(mQ[VY]) && llfinite(mQ[VZ]) && llfinite(mQ[VS]));
+    return (llfinite(mQ[VX]) && llfinite(mQ[VY]) && llfinite(mQ[VZ]) && llfinite(mQ[VS]));
 }
 
 inline BOOL LLQuaternion::isIdentity() const
 {
-	return 
-		( mQ[VX] == 0.f ) &&
-		( mQ[VY] == 0.f ) &&
-		( mQ[VZ] == 0.f ) &&
-		( mQ[VS] == 1.f );
+    return
+        ( mQ[VX] == 0.f ) &&
+        ( mQ[VY] == 0.f ) &&
+        ( mQ[VZ] == 0.f ) &&
+        ( mQ[VS] == 1.f );
 }
 
 inline BOOL LLQuaternion::isNotIdentity() const
 {
-	return 
-		( mQ[VX] != 0.f ) ||
-		( mQ[VY] != 0.f ) ||
-		( mQ[VZ] != 0.f ) ||
-		( mQ[VS] != 1.f );
+    return
+        ( mQ[VX] != 0.f ) ||
+        ( mQ[VY] != 0.f ) ||
+        ( mQ[VZ] != 0.f ) ||
+        ( mQ[VS] != 1.f );
 }
 
 
 
 inline LLQuaternion::LLQuaternion(void)
 {
-	mQ[VX] = 0.f;
-	mQ[VY] = 0.f;
-	mQ[VZ] = 0.f;
-	mQ[VS] = 1.f;
+    mQ[VX] = 0.f;
+    mQ[VY] = 0.f;
+    mQ[VZ] = 0.f;
+    mQ[VS] = 1.f;
 }
 
 inline LLQuaternion::LLQuaternion(F32 x, F32 y, F32 z, F32 w)
 {
-	mQ[VX] = x;
-	mQ[VY] = y;
-	mQ[VZ] = z;
-	mQ[VS] = w;
+    mQ[VX] = x;
+    mQ[VY] = y;
+    mQ[VZ] = z;
+    mQ[VS] = w;
 
-	//RN: don't normalize this case as its used mainly for temporaries during calculations
-	//normalize();
-	/*
-	F32 mag = sqrtf(mQ[VX]*mQ[VX] + mQ[VY]*mQ[VY] + mQ[VZ]*mQ[VZ] + mQ[VS]*mQ[VS]);
-	mag -= 1.f;
-	mag = fabs(mag);
-	llassert(mag < 10.f*FP_MAG_THRESHOLD);
-	*/
+    //RN: don't normalize this case as its used mainly for temporaries during calculations
+    //normalize();
+    /*
+    F32 mag = sqrtf(mQ[VX]*mQ[VX] + mQ[VY]*mQ[VY] + mQ[VZ]*mQ[VZ] + mQ[VS]*mQ[VS]);
+    mag -= 1.f;
+    mag = fabs(mag);
+    llassert(mag < 10.f*FP_MAG_THRESHOLD);
+    */
 }
 
 inline LLQuaternion::LLQuaternion(const F32 *q)
 {
-	mQ[VX] = q[VX];
-	mQ[VY] = q[VY];
-	mQ[VZ] = q[VZ];
-	mQ[VS] = q[VW];
+    mQ[VX] = q[VX];
+    mQ[VY] = q[VY];
+    mQ[VZ] = q[VZ];
+    mQ[VS] = q[VW];
 
-	normalize();
-	/*
-	F32 mag = sqrtf(mQ[VX]*mQ[VX] + mQ[VY]*mQ[VY] + mQ[VZ]*mQ[VZ] + mQ[VS]*mQ[VS]);
-	mag -= 1.f;
-	mag = fabs(mag);
-	llassert(mag < FP_MAG_THRESHOLD);
-	*/
+    normalize();
+    /*
+    F32 mag = sqrtf(mQ[VX]*mQ[VX] + mQ[VY]*mQ[VY] + mQ[VZ]*mQ[VZ] + mQ[VS]*mQ[VS]);
+    mag -= 1.f;
+    mag = fabs(mag);
+    llassert(mag < FP_MAG_THRESHOLD);
+    */
 }
 
 
 inline void LLQuaternion::loadIdentity()
 {
-	mQ[VX] = 0.0f;
-	mQ[VY] = 0.0f;
-	mQ[VZ] = 0.0f;
-	mQ[VW] = 1.0f;
+    mQ[VX] = 0.0f;
+    mQ[VY] = 0.0f;
+    mQ[VZ] = 0.0f;
+    mQ[VW] = 1.0f;
 }
 
 inline bool LLQuaternion::isEqualEps(const LLQuaternion &quat, F32 epsilon) const
 {
-	return ( fabs(mQ[VX] - quat.mQ[VX]) < epsilon
-		&&	 fabs(mQ[VY] - quat.mQ[VY]) < epsilon
-		&&	 fabs(mQ[VZ] - quat.mQ[VZ]) < epsilon
-		&&	 fabs(mQ[VS] - quat.mQ[VS]) < epsilon );
+    return ( fabs(mQ[VX] - quat.mQ[VX]) < epsilon
+        &&   fabs(mQ[VY] - quat.mQ[VY]) < epsilon
+        &&   fabs(mQ[VZ] - quat.mQ[VZ]) < epsilon
+        &&   fabs(mQ[VS] - quat.mQ[VS]) < epsilon );
 }
 
 inline bool LLQuaternion::isNotEqualEps(const LLQuaternion &quat, F32 epsilon) const
 {
-	return (  fabs(mQ[VX] - quat.mQ[VX]) > epsilon
-		||    fabs(mQ[VY] - quat.mQ[VY]) > epsilon
-		||	  fabs(mQ[VZ] - quat.mQ[VZ]) > epsilon
-		||    fabs(mQ[VS] - quat.mQ[VS]) > epsilon );
+    return (  fabs(mQ[VX] - quat.mQ[VX]) > epsilon
+        ||    fabs(mQ[VY] - quat.mQ[VY]) > epsilon
+        ||    fabs(mQ[VZ] - quat.mQ[VZ]) > epsilon
+        ||    fabs(mQ[VS] - quat.mQ[VS]) > epsilon );
 }
 
-inline const LLQuaternion&	LLQuaternion::set(F32 x, F32 y, F32 z, F32 w)
+inline const LLQuaternion&  LLQuaternion::set(F32 x, F32 y, F32 z, F32 w)
 {
-	mQ[VX] = x;
-	mQ[VY] = y;
-	mQ[VZ] = z;
-	mQ[VS] = w;
-	normalize();
-	return (*this);
+    mQ[VX] = x;
+    mQ[VY] = y;
+    mQ[VZ] = z;
+    mQ[VS] = w;
+    normalize();
+    return (*this);
 }
 
-inline const LLQuaternion&	LLQuaternion::set(const LLQuaternion &quat)
+inline const LLQuaternion&  LLQuaternion::set(const LLQuaternion &quat)
 {
-	mQ[VX] = quat.mQ[VX];
-	mQ[VY] = quat.mQ[VY];
-	mQ[VZ] = quat.mQ[VZ];
-	mQ[VW] = quat.mQ[VW];
-	normalize();
-	return (*this);
+    mQ[VX] = quat.mQ[VX];
+    mQ[VY] = quat.mQ[VY];
+    mQ[VZ] = quat.mQ[VZ];
+    mQ[VW] = quat.mQ[VW];
+    normalize();
+    return (*this);
 }
 
-inline const LLQuaternion&	LLQuaternion::set(const F32 *q)
+inline const LLQuaternion&  LLQuaternion::set(const F32 *q)
 {
-	mQ[VX] = q[VX];
-	mQ[VY] = q[VY];
-	mQ[VZ] = q[VZ];
-	mQ[VS] = q[VW];
-	normalize();
-	return (*this);
+    mQ[VX] = q[VX];
+    mQ[VY] = q[VY];
+    mQ[VZ] = q[VZ];
+    mQ[VS] = q[VW];
+    normalize();
+    return (*this);
 }
 
 
 // deprecated
-inline const LLQuaternion&	LLQuaternion::setQuatInit(F32 x, F32 y, F32 z, F32 w)
+inline const LLQuaternion&  LLQuaternion::setQuatInit(F32 x, F32 y, F32 z, F32 w)
 {
-	mQ[VX] = x;
-	mQ[VY] = y;
-	mQ[VZ] = z;
-	mQ[VS] = w;
-	normalize();
-	return (*this);
+    mQ[VX] = x;
+    mQ[VY] = y;
+    mQ[VZ] = z;
+    mQ[VS] = w;
+    normalize();
+    return (*this);
 }
 
 // deprecated
-inline const LLQuaternion&	LLQuaternion::setQuat(const LLQuaternion &quat)
+inline const LLQuaternion&  LLQuaternion::setQuat(const LLQuaternion &quat)
 {
-	mQ[VX] = quat.mQ[VX];
-	mQ[VY] = quat.mQ[VY];
-	mQ[VZ] = quat.mQ[VZ];
-	mQ[VW] = quat.mQ[VW];
-	normalize();
-	return (*this);
+    mQ[VX] = quat.mQ[VX];
+    mQ[VY] = quat.mQ[VY];
+    mQ[VZ] = quat.mQ[VZ];
+    mQ[VW] = quat.mQ[VW];
+    normalize();
+    return (*this);
 }
 
 // deprecated
-inline const LLQuaternion&	LLQuaternion::setQuat(const F32 *q)
+inline const LLQuaternion&  LLQuaternion::setQuat(const F32 *q)
 {
-	mQ[VX] = q[VX];
-	mQ[VY] = q[VY];
-	mQ[VZ] = q[VZ];
-	mQ[VS] = q[VW];
-	normalize();
-	return (*this);
+    mQ[VX] = q[VX];
+    mQ[VY] = q[VY];
+    mQ[VZ] = q[VZ];
+    mQ[VS] = q[VW];
+    normalize();
+    return (*this);
 }
 
 inline void LLQuaternion::getAngleAxis(F32* angle, F32* x, F32* y, F32* z) const
 {
-	F32 v = sqrtf(mQ[VX] * mQ[VX] + mQ[VY] * mQ[VY] + mQ[VZ] * mQ[VZ]); // length of the vector-component
-	if (v > FP_MAG_THRESHOLD)
-	{
-		F32 oomag = 1.0f / v;
-		F32 w = mQ[VW];
-		if (w < 0.0f)
-		{
-			w = -w; // make VW positive
-			oomag = -oomag; // invert the axis
-		}
-		*x = mQ[VX] * oomag; // normalize the axis
-		*y = mQ[VY] * oomag;
-		*z = mQ[VZ] * oomag;
-		*angle = 2.0f * atan2f(v, w); // get the angle
-	}
-	else
-	{
-		*angle = 0.0f; // no rotation
-		*x = 0.0f; // around some dummy axis
-		*y = 0.0f;
-		*z = 1.0f;
-	}
+    F32 v = sqrtf(mQ[VX] * mQ[VX] + mQ[VY] * mQ[VY] + mQ[VZ] * mQ[VZ]); // length of the vector-component
+    if (v > FP_MAG_THRESHOLD)
+    {
+        F32 oomag = 1.0f / v;
+        F32 w = mQ[VW];
+        if (w < 0.0f)
+        {
+            w = -w; // make VW positive
+            oomag = -oomag; // invert the axis
+        }
+        *x = mQ[VX] * oomag; // normalize the axis
+        *y = mQ[VY] * oomag;
+        *z = mQ[VZ] * oomag;
+        *angle = 2.0f * atan2f(v, w); // get the angle
+    }
+    else
+    {
+        *angle = 0.0f; // no rotation
+        *x = 0.0f; // around some dummy axis
+        *y = 0.0f;
+        *z = 1.0f;
+    }
 }
 
 inline const LLQuaternion& LLQuaternion::conjugate()
 {
-	mQ[VX] *= -1.f;
-	mQ[VY] *= -1.f;
-	mQ[VZ] *= -1.f;
-	return (*this);
+    mQ[VX] *= -1.f;
+    mQ[VY] *= -1.f;
+    mQ[VZ] *= -1.f;
+    return (*this);
 }
 
 inline const LLQuaternion& LLQuaternion::conjQuat()
 {
-	mQ[VX] *= -1.f;
-	mQ[VY] *= -1.f;
-	mQ[VZ] *= -1.f;
-	return (*this);
+    mQ[VX] *= -1.f;
+    mQ[VY] *= -1.f;
+    mQ[VZ] *= -1.f;
+    return (*this);
 }
 
 // Transpose
 inline const LLQuaternion& LLQuaternion::transpose()
 {
-	mQ[VX] *= -1.f;
-	mQ[VY] *= -1.f;
-	mQ[VZ] *= -1.f;
-	return (*this);
+    mQ[VX] *= -1.f;
+    mQ[VY] *= -1.f;
+    mQ[VZ] *= -1.f;
+    return (*this);
 }
 
 // deprecated
 inline const LLQuaternion& LLQuaternion::transQuat()
 {
-	mQ[VX] *= -1.f;
-	mQ[VY] *= -1.f;
-	mQ[VZ] *= -1.f;
-	return (*this);
+    mQ[VX] *= -1.f;
+    mQ[VY] *= -1.f;
+    mQ[VZ] *= -1.f;
+    return (*this);
 }
 
 
-inline LLQuaternion 	operator+(const LLQuaternion &a, const LLQuaternion &b)
+inline LLQuaternion     operator+(const LLQuaternion &a, const LLQuaternion &b)
 {
-	return LLQuaternion( 
-		a.mQ[VX] + b.mQ[VX],
-		a.mQ[VY] + b.mQ[VY],
-		a.mQ[VZ] + b.mQ[VZ],
-		a.mQ[VW] + b.mQ[VW] );
+    return LLQuaternion(
+        a.mQ[VX] + b.mQ[VX],
+        a.mQ[VY] + b.mQ[VY],
+        a.mQ[VZ] + b.mQ[VZ],
+        a.mQ[VW] + b.mQ[VW] );
 }
 
 
-inline LLQuaternion 	operator-(const LLQuaternion &a, const LLQuaternion &b)
+inline LLQuaternion     operator-(const LLQuaternion &a, const LLQuaternion &b)
 {
-	return LLQuaternion( 
-		a.mQ[VX] - b.mQ[VX],
-		a.mQ[VY] - b.mQ[VY],
-		a.mQ[VZ] - b.mQ[VZ],
-		a.mQ[VW] - b.mQ[VW] );
+    return LLQuaternion(
+        a.mQ[VX] - b.mQ[VX],
+        a.mQ[VY] - b.mQ[VY],
+        a.mQ[VZ] - b.mQ[VZ],
+        a.mQ[VW] - b.mQ[VW] );
 }
 
 
-inline LLQuaternion 	operator-(const LLQuaternion &a)
+inline LLQuaternion     operator-(const LLQuaternion &a)
 {
-	return LLQuaternion(
-		-a.mQ[VX],
-		-a.mQ[VY],
-		-a.mQ[VZ],
-		-a.mQ[VW] );
+    return LLQuaternion(
+        -a.mQ[VX],
+        -a.mQ[VY],
+        -a.mQ[VZ],
+        -a.mQ[VW] );
 }
 
 
-inline LLQuaternion 	operator*(F32 a, const LLQuaternion &q)
+inline LLQuaternion     operator*(F32 a, const LLQuaternion &q)
 {
-	return LLQuaternion(
-		a * q.mQ[VX],
-		a * q.mQ[VY],
-		a * q.mQ[VZ],
-		a * q.mQ[VW] );
+    return LLQuaternion(
+        a * q.mQ[VX],
+        a * q.mQ[VY],
+        a * q.mQ[VZ],
+        a * q.mQ[VW] );
 }
 
 
-inline LLQuaternion 	operator*(const LLQuaternion &q, F32 a)
+inline LLQuaternion     operator*(const LLQuaternion &q, F32 a)
 {
-	return LLQuaternion(
-		a * q.mQ[VX],
-		a * q.mQ[VY],
-		a * q.mQ[VZ],
-		a * q.mQ[VW] );
+    return LLQuaternion(
+        a * q.mQ[VX],
+        a * q.mQ[VY],
+        a * q.mQ[VZ],
+        a * q.mQ[VW] );
 }
 
-inline LLQuaternion	operator~(const LLQuaternion &a)
+inline LLQuaternion operator~(const LLQuaternion &a)
 {
-	LLQuaternion q(a);
-	q.conjQuat();
-	return q;
+    LLQuaternion q(a);
+    q.conjQuat();
+    return q;
 }
 
-inline bool	LLQuaternion::operator==(const LLQuaternion &b) const
+inline bool LLQuaternion::operator==(const LLQuaternion &b) const
 {
-	return (  (mQ[VX] == b.mQ[VX])
-			&&(mQ[VY] == b.mQ[VY])
-			&&(mQ[VZ] == b.mQ[VZ])
-			&&(mQ[VS] == b.mQ[VS]));
+    return (  (mQ[VX] == b.mQ[VX])
+            &&(mQ[VY] == b.mQ[VY])
+            &&(mQ[VZ] == b.mQ[VZ])
+            &&(mQ[VS] == b.mQ[VS]));
 }
 
-inline bool	LLQuaternion::operator!=(const LLQuaternion &b) const
+inline bool LLQuaternion::operator!=(const LLQuaternion &b) const
 {
-	return (  (mQ[VX] != b.mQ[VX])
-			||(mQ[VY] != b.mQ[VY])
-			||(mQ[VZ] != b.mQ[VZ])
-			||(mQ[VS] != b.mQ[VS]));
+    return (  (mQ[VX] != b.mQ[VX])
+            ||(mQ[VY] != b.mQ[VY])
+            ||(mQ[VZ] != b.mQ[VZ])
+            ||(mQ[VS] != b.mQ[VS]));
 }
 
-inline const LLQuaternion&	operator*=(LLQuaternion &a, const LLQuaternion &b)
+inline const LLQuaternion&  operator*=(LLQuaternion &a, const LLQuaternion &b)
 {
 #if 1
-	LLQuaternion q(
-		b.mQ[3] * a.mQ[0] + b.mQ[0] * a.mQ[3] + b.mQ[1] * a.mQ[2] - b.mQ[2] * a.mQ[1],
-		b.mQ[3] * a.mQ[1] + b.mQ[1] * a.mQ[3] + b.mQ[2] * a.mQ[0] - b.mQ[0] * a.mQ[2],
-		b.mQ[3] * a.mQ[2] + b.mQ[2] * a.mQ[3] + b.mQ[0] * a.mQ[1] - b.mQ[1] * a.mQ[0],
-		b.mQ[3] * a.mQ[3] - b.mQ[0] * a.mQ[0] - b.mQ[1] * a.mQ[1] - b.mQ[2] * a.mQ[2]
-	);
-	a = q;
+    LLQuaternion q(
+        b.mQ[3] * a.mQ[0] + b.mQ[0] * a.mQ[3] + b.mQ[1] * a.mQ[2] - b.mQ[2] * a.mQ[1],
+        b.mQ[3] * a.mQ[1] + b.mQ[1] * a.mQ[3] + b.mQ[2] * a.mQ[0] - b.mQ[0] * a.mQ[2],
+        b.mQ[3] * a.mQ[2] + b.mQ[2] * a.mQ[3] + b.mQ[0] * a.mQ[1] - b.mQ[1] * a.mQ[0],
+        b.mQ[3] * a.mQ[3] - b.mQ[0] * a.mQ[0] - b.mQ[1] * a.mQ[1] - b.mQ[2] * a.mQ[2]
+    );
+    a = q;
 #else
-	a = a * b;
+    a = a * b;
 #endif
-	return a;
+    return a;
 }
 
 const F32 ONE_PART_IN_A_MILLION = 0.000001f;
 
-inline F32	LLQuaternion::normalize()
-{
-	F32 mag = sqrtf(mQ[VX]*mQ[VX] + mQ[VY]*mQ[VY] + mQ[VZ]*mQ[VZ] + mQ[VS]*mQ[VS]);
-
-	if (mag > FP_MAG_THRESHOLD)
-	{
-		// Floating point error can prevent some quaternions from achieving
-		// exact unity length.  When trying to renormalize such quaternions we
-		// can oscillate between multiple quantized states.  To prevent such
-		// drifts we only renomalize if the length is far enough from unity.
-		if (fabs(1.f - mag) > ONE_PART_IN_A_MILLION)
-		{
-			F32 oomag = 1.f/mag;
-			mQ[VX] *= oomag;
-			mQ[VY] *= oomag;
-			mQ[VZ] *= oomag;
-			mQ[VS] *= oomag;
-		}
-	}
-	else
-	{
-		// we were given a very bad quaternion so we set it to identity
-		mQ[VX] = 0.f;
-		mQ[VY] = 0.f;
-		mQ[VZ] = 0.f;
-		mQ[VS] = 1.f;
-	}
-
-	return mag;
+inline F32  LLQuaternion::normalize()
+{
+    F32 mag = sqrtf(mQ[VX]*mQ[VX] + mQ[VY]*mQ[VY] + mQ[VZ]*mQ[VZ] + mQ[VS]*mQ[VS]);
+
+    if (mag > FP_MAG_THRESHOLD)
+    {
+        // Floating point error can prevent some quaternions from achieving
+        // exact unity length.  When trying to renormalize such quaternions we
+        // can oscillate between multiple quantized states.  To prevent such
+        // drifts we only renomalize if the length is far enough from unity.
+        if (fabs(1.f - mag) > ONE_PART_IN_A_MILLION)
+        {
+            F32 oomag = 1.f/mag;
+            mQ[VX] *= oomag;
+            mQ[VY] *= oomag;
+            mQ[VZ] *= oomag;
+            mQ[VS] *= oomag;
+        }
+    }
+    else
+    {
+        // we were given a very bad quaternion so we set it to identity
+        mQ[VX] = 0.f;
+        mQ[VY] = 0.f;
+        mQ[VZ] = 0.f;
+        mQ[VS] = 1.f;
+    }
+
+    return mag;
 }
 
 // deprecated
-inline F32	LLQuaternion::normQuat()
-{
-	F32 mag = sqrtf(mQ[VX]*mQ[VX] + mQ[VY]*mQ[VY] + mQ[VZ]*mQ[VZ] + mQ[VS]*mQ[VS]);
-
-	if (mag > FP_MAG_THRESHOLD)
-	{
-		if (fabs(1.f - mag) > ONE_PART_IN_A_MILLION)
-		{
-			// only renormalize if length not close enough to 1.0 already
-			F32 oomag = 1.f/mag;
-			mQ[VX] *= oomag;
-			mQ[VY] *= oomag;
-			mQ[VZ] *= oomag;
-			mQ[VS] *= oomag;
-		}
-	}
-	else
-	{
-		mQ[VX] = 0.f;
-		mQ[VY] = 0.f;
-		mQ[VZ] = 0.f;
-		mQ[VS] = 1.f;
-	}
-
-	return mag;
+inline F32  LLQuaternion::normQuat()
+{
+    F32 mag = sqrtf(mQ[VX]*mQ[VX] + mQ[VY]*mQ[VY] + mQ[VZ]*mQ[VZ] + mQ[VS]*mQ[VS]);
+
+    if (mag > FP_MAG_THRESHOLD)
+    {
+        if (fabs(1.f - mag) > ONE_PART_IN_A_MILLION)
+        {
+            // only renormalize if length not close enough to 1.0 already
+            F32 oomag = 1.f/mag;
+            mQ[VX] *= oomag;
+            mQ[VY] *= oomag;
+            mQ[VZ] *= oomag;
+            mQ[VS] *= oomag;
+        }
+    }
+    else
+    {
+        mQ[VX] = 0.f;
+        mQ[VY] = 0.f;
+        mQ[VZ] = 0.f;
+        mQ[VS] = 1.f;
+    }
+
+    return mag;
 }
 
 LLQuaternion::Order StringToOrder( const char *str );
@@ -566,11 +566,11 @@ LLQuaternion::Order StringToOrder( const char *str );
 // ---------------------
 // A quaternion is a point in 4-dimensional complex space.
 // Q = { Qx, Qy, Qz, Qw }
-// 
+//
 //
 // Why Quaternions?
 // ----------------
-// The set of quaternions that make up the the 4-D unit sphere 
+// The set of quaternions that make up the the 4-D unit sphere
 // can be mapped to the set of all rotations in 3-D space.  Sometimes
 // it is easier to describe/manipulate rotations in quaternion space
 // than rotation-matrix space.
@@ -581,22 +581,22 @@ LLQuaternion::Order StringToOrder( const char *str );
 // In order to take advantage of quaternions we need to know how to
 // go from rotation-matricies to quaternions and back.  We also have
 // to agree what variety of rotations we're generating.
-// 
-// Consider the equation...   v' = v * R 
+//
+// Consider the equation...   v' = v * R
 //
 // There are two ways to think about rotations of vectors.
 // 1) v' is the same vector in a different reference frame
 // 2) v' is a new vector in the same reference frame
 //
 // bookmark -- which way are we using?
-// 
-// 
+//
+//
 // Quaternion from Angle-Axis:
 // ---------------------------
-// Suppose we wanted to represent a rotation of some angle (theta) 
+// Suppose we wanted to represent a rotation of some angle (theta)
 // about some axis ({Ax, Ay, Az})...
 //
-// axis of rotation = {Ax, Ay, Az} 
+// axis of rotation = {Ax, Ay, Az}
 // angle_of_rotation = theta
 //
 // s = sin(0.5 * theta)