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/**
* @file llquaternion2.inl
* @brief LLQuaternion2 inline definitions
*
* $LicenseInfo:firstyear=2010&license=viewerlgpl$
* 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
* $/LicenseInfo$
*/
#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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