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/**
* @file llquaternion2.inl
* @brief LLQuaternion2 inline definitions
*
* $LicenseInfo:firstyear=2010&license=viewergpl$
*
* Copyright (c) 2010, Linden Research, Inc.
*
* Second Life Viewer Source Code
* The source code in this file ("Source Code") is provided by Linden Lab
* to you under the terms of the GNU General Public License, version 2.0
* ("GPL"), unless you have obtained a separate licensing agreement
* ("Other License"), formally executed by you and Linden Lab. Terms of
* the GPL can be found in doc/GPL-license.txt in this distribution, or
* online at http://secondlifegrid.net/programs/open_source/licensing/gplv2
*
* There are special exceptions to the terms and conditions of the GPL as
* it is applied to this Source Code. View the full text of the exception
* in the file doc/FLOSS-exception.txt in this software distribution, or
* online at
* http://secondlifegrid.net/programs/open_source/licensing/flossexception
*
* By copying, modifying or distributing this software, you acknowledge
* that you have read and understood your obligations described above,
* and agree to abide by those obligations.
*
* ALL LINDEN LAB SOURCE CODE IS PROVIDED "AS IS." LINDEN LAB MAKES NO
* WARRANTIES, EXPRESS, IMPLIED OR OTHERWISE, REGARDING ITS ACCURACY,
* COMPLETENESS OR PERFORMANCE.
* $/LicenseInfo$
*/
#include "llquaternion2.h"
static const LLQuad LL_V4A_PLUS_ONE = {1.f, 1.f, 1.f, 1.f};
static const LLQuad LL_V4A_MINUS_ONE = {-1.f, -1.f, -1.f, -1.f};
// Ctor from LLQuaternion
inline LLQuaternion2::LLQuaternion2( const LLQuaternion& quat )
{
mQ.set(quat.mQ[VX], quat.mQ[VY], quat.mQ[VZ], quat.mQ[VW]);
}
//////////////////////////
// Get/Set
//////////////////////////
// Return the internal LLVector4a representation of the quaternion
inline const LLVector4a& LLQuaternion2::getVector4a() const
{
return mQ;
}
inline LLVector4a& LLQuaternion2::getVector4aRw()
{
return mQ;
}
/////////////////////////
// Quaternion modification
/////////////////////////
// Set this quaternion to the conjugate of src
inline void LLQuaternion2::setConjugate(const LLQuaternion2& src)
{
static LL_ALIGN_16( const U32 F_QUAT_INV_MASK_4A[4] ) = { 0x80000000, 0x80000000, 0x80000000, 0x00000000 };
mQ = _mm_xor_ps(src.mQ, *reinterpret_cast<const LLQuad*>(&F_QUAT_INV_MASK_4A));
}
// Renormalizes the quaternion. Assumes it has nonzero length.
inline void LLQuaternion2::normalize()
{
mQ.normalize4();
}
// Quantize this quaternion to 8 bit precision
inline void LLQuaternion2::quantize8()
{
mQ.quantize8( LL_V4A_MINUS_ONE, LL_V4A_PLUS_ONE );
normalize();
}
// Quantize this quaternion to 16 bit precision
inline void LLQuaternion2::quantize16()
{
mQ.quantize16( LL_V4A_MINUS_ONE, LL_V4A_PLUS_ONE );
normalize();
}
/////////////////////////
// Quaternion inspection
/////////////////////////
// Return true if this quaternion is equal to 'rhs'.
// Note! Quaternions exhibit "double-cover", so any rotation has two equally valid
// quaternion representations and they will NOT compare equal.
inline bool LLQuaternion2::equals(const LLQuaternion2 &rhs, F32 tolerance/* = F_APPROXIMATELY_ZERO*/) const
{
return mQ.equals4(rhs.mQ, tolerance);
}
// Return true if all components are finite and the quaternion is normalized
inline bool LLQuaternion2::isOkRotation() const
{
return mQ.isFinite4() && mQ.isNormalized4();
}
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