1 //Copyright (c) 2008-2016 Emil Dotchevski and Reverge Studios, Inc. 2 3 //Distributed under the Boost Software License, Version 1.0. (See accompanying 4 //file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) 5 6 #ifndef BOOST_QVM_51968952D30A11DFAFE78CE3DFD72085 7 #define BOOST_QVM_51968952D30A11DFAFE78CE3DFD72085 8 9 #include <boost/qvm/quat_traits.hpp> 10 #include <boost/qvm/deduce_vec.hpp> 11 #include <boost/qvm/inline.hpp> 12 #include <boost/qvm/enable_if.hpp> 13 14 namespace 15 boost 16 { 17 namespace 18 qvm 19 { 20 template <class A,class B> 21 BOOST_QVM_INLINE_OPERATIONS 22 typename lazy_enable_if_c< 23 is_quat<A>::value && 24 is_vec<B>::value && vec_traits<B>::dim==3, 25 deduce_vec2<A,B,3> >::type operator *(A const & a,B const & b)26 operator*( A const & a, B const & b ) 27 { 28 typedef typename deduce_vec2<A,B,3>::type R; 29 typedef typename quat_traits<A>::scalar_type TA; 30 typedef typename vec_traits<B>::scalar_type TB; 31 TA const aa = quat_traits<A>::template read_element<0>(a); 32 TA const ab = quat_traits<A>::template read_element<1>(a); 33 TA const ac = quat_traits<A>::template read_element<2>(a); 34 TA const ad = quat_traits<A>::template read_element<3>(a); 35 TA const t2 = aa*ab; 36 TA const t3 = aa*ac; 37 TA const t4 = aa*ad; 38 TA const t5 = -ab*ab; 39 TA const t6 = ab*ac; 40 TA const t7 = ab*ad; 41 TA const t8 = -ac*ac; 42 TA const t9 = ac*ad; 43 TA const t10 = -ad*ad; 44 TB const bx = vec_traits<B>::template read_element<0>(b); 45 TB const by = vec_traits<B>::template read_element<1>(b); 46 TB const bz = vec_traits<B>::template read_element<2>(b); 47 R r; 48 vec_traits<R>::template write_element<0>(r) = 2*((t8+t10)*bx + (t6-t4)*by + (t3+t7)*bz) + bx; 49 vec_traits<R>::template write_element<1>(r) = 2*((t4+t6)*bx + (t5+t10)*by + (t9-t2)*bz) + by; 50 vec_traits<R>::template write_element<2>(r) = 2*((t7-t3)*bx + (t2+t9)*by + (t5+t8)*bz) + bz; 51 return r; 52 } 53 54 namespace 55 sfinae 56 { 57 using ::boost::qvm::operator*; 58 } 59 } 60 } 61 62 #endif 63