#ifndef BOOST_QVM_QUAT_VEC_OPERATIONS_HPP_INCLUDED #define BOOST_QVM_QUAT_VEC_OPERATIONS_HPP_INCLUDED /// Copyright (c) 2008-2021 Emil Dotchevski and Reverge Studios, Inc. /// Distributed under the Boost Software License, Version 1.0. (See accompanying /// file LICENSE_1_0.txt or copy at http://www.boost.org/LICENSE_1_0.txt) #include <boost/qvm/quat_traits.hpp> #include <boost/qvm/deduce_vec.hpp> #include <boost/qvm/inline.hpp> #include <boost/qvm/enable_if.hpp> namespace boost { namespace qvm { template <class A,class B> BOOST_QVM_INLINE_OPERATIONS typename lazy_enable_if_c< is_quat<A>::value && is_vec<B>::value && vec_traits<B>::dim==3, deduce_vec2<A,B,3> >::type operator*( A const & a, B const & b ) { typedef typename deduce_vec2<A,B,3>::type R; typedef typename quat_traits<A>::scalar_type TA; typedef typename vec_traits<B>::scalar_type TB; TA const aa = quat_traits<A>::template read_element<0>(a); TA const ab = quat_traits<A>::template read_element<1>(a); TA const ac = quat_traits<A>::template read_element<2>(a); TA const ad = quat_traits<A>::template read_element<3>(a); TA const t2 = aa*ab; TA const t3 = aa*ac; TA const t4 = aa*ad; TA const t5 = -ab*ab; TA const t6 = ab*ac; TA const t7 = ab*ad; TA const t8 = -ac*ac; TA const t9 = ac*ad; TA const t10 = -ad*ad; TB const bx = vec_traits<B>::template read_element<0>(b); TB const by = vec_traits<B>::template read_element<1>(b); TB const bz = vec_traits<B>::template read_element<2>(b); R r; vec_traits<R>::template write_element<0>(r) = 2*((t8+t10)*bx + (t6-t4)*by + (t3+t7)*bz) + bx; vec_traits<R>::template write_element<1>(r) = 2*((t4+t6)*bx + (t5+t10)*by + (t9-t2)*bz) + by; vec_traits<R>::template write_element<2>(r) = 2*((t7-t3)*bx + (t2+t9)*by + (t5+t8)*bz) + bz; return r; } namespace sfinae { using ::boost::qvm::operator*; } } } #endif