From 2877f4eda3d1b0c7431039e3142ecf1a282a34b1 Mon Sep 17 00:00:00 2001
From: LaG1924 <12997935+LaG1924@users.noreply.github.com>
Date: Tue, 21 Aug 2018 20:40:38 +0500
Subject: Update glm to 0.9.9.0

---
 external/include/glm/gtx/dual_quaternion.inl | 240 ++++++++++++++-------------
 1 file changed, 122 insertions(+), 118 deletions(-)

(limited to 'external/include/glm/gtx/dual_quaternion.inl')

diff --git a/external/include/glm/gtx/dual_quaternion.inl b/external/include/glm/gtx/dual_quaternion.inl
index c3f2bc6..5c82b88 100644
--- a/external/include/glm/gtx/dual_quaternion.inl
+++ b/external/include/glm/gtx/dual_quaternion.inl
@@ -8,15 +8,15 @@ namespace glm
 {
 	// -- Component accesses --
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER typename tdualquat<T, P>::part_type & tdualquat<T, P>::operator[](typename tdualquat<T, P>::length_type i)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER typename tdualquat<T, Q>::part_type & tdualquat<T, Q>::operator[](typename tdualquat<T, Q>::length_type i)
 	{
 		assert(i >= 0 && i < this->length());
 		return (&real)[i];
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER typename tdualquat<T, P>::part_type const & tdualquat<T, P>::operator[](typename tdualquat<T, P>::length_type i) const
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER typename tdualquat<T, Q>::part_type const& tdualquat<T, Q>::operator[](typename tdualquat<T, Q>::length_type i) const
 	{
 		assert(i >= 0 && i < this->length());
 		return (&real)[i];
@@ -24,44 +24,40 @@ namespace glm
 
 	// -- Implicit basic constructors --
 
-#	if !GLM_HAS_DEFAULTED_FUNCTIONS || !defined(GLM_FORCE_NO_CTOR_INIT)
-		template <typename T, precision P>
-		GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat()
-#			ifndef GLM_FORCE_NO_CTOR_INIT 
-				: real(tquat<T, P>())
-				, dual(tquat<T, P>(0, 0, 0, 0))
+#	if !GLM_HAS_DEFAULTED_FUNCTIONS || defined(GLM_FORCE_CTOR_INIT)
+		template<typename T, qualifier Q>
+		GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat()
+#			ifdef GLM_FORCE_CTOR_INIT
+			: real(tquat<T, Q>())
+			, dual(tquat<T, Q>(0, 0, 0, 0))
 #			endif
 		{}
 #	endif
 
 #	if !GLM_HAS_DEFAULTED_FUNCTIONS
-		template <typename T, precision P>
-		GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tdualquat<T, P> const & d)
+		template<typename T, qualifier Q>
+		GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tdualquat<T, Q> const& d)
 			: real(d.real)
 			, dual(d.dual)
 		{}
 #	endif//!GLM_HAS_DEFAULTED_FUNCTIONS
 
-	template <typename T, precision P>
-	template <precision Q>
-	GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tdualquat<T, Q> const & d)
+	template<typename T, qualifier Q>
+	template<qualifier P>
+	GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tdualquat<T, P> const& d)
 		: real(d.real)
 		, dual(d.dual)
 	{}
 
 	// -- Explicit basic constructors --
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER GLM_CONSTEXPR_CTOR tdualquat<T, P>::tdualquat(ctor)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tquat<T, Q> const& r)
+		: real(r), dual(tquat<T, Q>(0, 0, 0, 0))
 	{}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tquat<T, P> const & r)
-		: real(r), dual(tquat<T, P>(0, 0, 0, 0))
-	{}
-
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tquat<T, P> const & q, tvec3<T, P> const& p)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tquat<T, Q> const& q, vec<3, T, Q> const& p)
 		: real(q), dual(
 			T(-0.5) * ( p.x*q.x + p.y*q.y + p.z*q.z),
 			T(+0.5) * ( p.x*q.w + p.y*q.z - p.z*q.y),
@@ -69,28 +65,28 @@ namespace glm
 			T(+0.5) * ( p.x*q.y - p.y*q.x + p.z*q.w))
 	{}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tquat<T, P> const & r, tquat<T, P> const & d)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tquat<T, Q> const& r, tquat<T, Q> const& d)
 		: real(r), dual(d)
 	{}
 
 	// -- Conversion constructors --
 
-	template <typename T, precision P>
-	template <typename U, precision Q>
-	GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, P>::tdualquat(tdualquat<U, Q> const & q)
+	template<typename T, qualifier Q>
+	template<typename U, qualifier P>
+	GLM_FUNC_QUALIFIER GLM_CONSTEXPR tdualquat<T, Q>::tdualquat(tdualquat<U, P> const& q)
 		: real(q.real)
 		, dual(q.dual)
 	{}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tmat2x4<T, P> const & m)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q>::tdualquat(mat<2, 4, T, Q> const& m)
 	{
 		*this = dualquat_cast(m);
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P>::tdualquat(tmat3x4<T, P> const & m)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q>::tdualquat(mat<3, 4, T, Q> const& m)
 	{
 		*this = dualquat_cast(m);
 	}
@@ -98,8 +94,8 @@ namespace glm
 	// -- Unary arithmetic operators --
 
 #	if !GLM_HAS_DEFAULTED_FUNCTIONS
-		template <typename T, precision P>
-		GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator=(tdualquat<T, P> const & q)
+		template<typename T, qualifier Q>
+		GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator=(tdualquat<T, Q> const& q)
 		{
 			this->real = q.real;
 			this->dual = q.dual;
@@ -107,27 +103,27 @@ namespace glm
 		}
 #	endif//!GLM_HAS_DEFAULTED_FUNCTIONS
 
-	template <typename T, precision P>
-	template <typename U>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator=(tdualquat<U, P> const & q)
+	template<typename T, qualifier Q>
+	template<typename U>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator=(tdualquat<U, Q> const& q)
 	{
 		this->real = q.real;
 		this->dual = q.dual;
 		return *this;
 	}
 
-	template <typename T, precision P>
-	template <typename U>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator*=(U s)
+	template<typename T, qualifier Q>
+	template<typename U>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator*=(U s)
 	{
 		this->real *= static_cast<T>(s);
 		this->dual *= static_cast<T>(s);
 		return *this;
 	}
 
-	template <typename T, precision P>
-	template <typename U>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> & tdualquat<T, P>::operator/=(U s)
+	template<typename T, qualifier Q>
+	template<typename U>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> & tdualquat<T, Q>::operator/=(U s)
 	{
 		this->real /= static_cast<T>(s);
 		this->dual /= static_cast<T>(s);
@@ -136,100 +132,108 @@ namespace glm
 
 	// -- Unary bit operators --
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> operator+(tdualquat<T, P> const & q)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> operator+(tdualquat<T, Q> const& q)
 	{
 		return q;
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> operator-(tdualquat<T, P> const & q)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> operator-(tdualquat<T, Q> const& q)
 	{
-		return tdualquat<T, P>(-q.real, -q.dual);
+		return tdualquat<T, Q>(-q.real, -q.dual);
 	}
 
 	// -- Binary operators --
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> operator+(tdualquat<T, P> const & q, tdualquat<T, P> const & p)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> operator+(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p)
 	{
-		return tdualquat<T, P>(q.real + p.real,q.dual + p.dual);
+		return tdualquat<T, Q>(q.real + p.real,q.dual + p.dual);
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> operator*(tdualquat<T, P> const & p, tdualquat<T, P> const & o)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> operator*(tdualquat<T, Q> const& p, tdualquat<T, Q> const& o)
 	{
-		return tdualquat<T, P>(p.real * o.real,p.real * o.dual + p.dual * o.real);
+		return tdualquat<T, Q>(p.real * o.real,p.real * o.dual + p.dual * o.real);
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tvec3<T, P> operator*(tdualquat<T, P> const & q, tvec3<T, P> const & v)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER vec<3, T, Q> operator*(tdualquat<T, Q> const& q, vec<3, T, Q> const& v)
 	{
-		tvec3<T, P> const real_v3(q.real.x,q.real.y,q.real.z);
-		tvec3<T, P> const dual_v3(q.dual.x,q.dual.y,q.dual.z);
+		vec<3, T, Q> const real_v3(q.real.x,q.real.y,q.real.z);
+		vec<3, T, Q> const dual_v3(q.dual.x,q.dual.y,q.dual.z);
 		return (cross(real_v3, cross(real_v3,v) + v * q.real.w + dual_v3) + dual_v3 * q.real.w - real_v3 * q.dual.w) * T(2) + v;
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tvec3<T, P> operator*(tvec3<T, P> const & v,	tdualquat<T, P> const & q)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER vec<3, T, Q> operator*(vec<3, T, Q> const& v,	tdualquat<T, Q> const& q)
 	{
 		return glm::inverse(q) * v;
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tdualquat<T, P> const & q, tvec4<T, P> const & v)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER vec<4, T, Q> operator*(tdualquat<T, Q> const& q, vec<4, T, Q> const& v)
 	{
-		return tvec4<T, P>(q * tvec3<T, P>(v), v.w);
+		return vec<4, T, Q>(q * vec<3, T, Q>(v), v.w);
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tvec4<T, P> operator*(tvec4<T, P> const & v,	tdualquat<T, P> const & q)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER vec<4, T, Q> operator*(vec<4, T, Q> const& v,	tdualquat<T, Q> const& q)
 	{
 		return glm::inverse(q) * v;
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> operator*(tdualquat<T, P> const & q, T const & s)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, T const& s)
 	{
-		return tdualquat<T, P>(q.real * s, q.dual * s);
+		return tdualquat<T, Q>(q.real * s, q.dual * s);
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> operator*(T const & s, tdualquat<T, P> const & q)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> const& q)
 	{
 		return q * s;
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> operator/(tdualquat<T, P> const & q,	T const & s)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> operator/(tdualquat<T, Q> const& q,	T const& s)
 	{
-		return tdualquat<T, P>(q.real / s, q.dual / s);
+		return tdualquat<T, Q>(q.real / s, q.dual / s);
 	}
 
 	// -- Boolean operators --
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER bool operator==(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER bool operator==(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2)
 	{
 		return (q1.real == q2.real) && (q1.dual == q2.dual);
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER bool operator!=(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2)
 	{
-		return (q1.real != q2.dual) || (q1.real != q2.dual);
+		return (q1.real != q2.real) || (q1.dual != q2.dual);
 	}
 
 	// -- Operations --
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> normalize(tdualquat<T, P> const & q)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> dual_quat_identity()
+	{
+		return tdualquat<T, Q>(
+			tquat<T, Q>(static_cast<T>(1), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0)),
+			tquat<T, Q>(static_cast<T>(0), static_cast<T>(0), static_cast<T>(0), static_cast<T>(0)));
+	}
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> normalize(tdualquat<T, Q> const& q)
 	{
 		return q / length(q.real);
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> lerp(tdualquat<T, P> const & x, tdualquat<T, P> const & y, T const & a)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> lerp(tdualquat<T, Q> const& x, tdualquat<T, Q> const& y, T const& a)
 	{
 		// Dual Quaternion Linear blend aka DLB:
 		// Lerp is only defined in [0, 1]
@@ -237,72 +241,72 @@ namespace glm
 		assert(a <= static_cast<T>(1));
 		T const k = dot(x.real,y.real) < static_cast<T>(0) ? -a : a;
 		T const one(1);
-		return tdualquat<T, P>(x * (one - a) + y * k);
+		return tdualquat<T, Q>(x * (one - a) + y * k);
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> inverse(tdualquat<T, P> const & q)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> inverse(tdualquat<T, Q> const& q)
 	{
-		const glm::tquat<T, P> real = conjugate(q.real);
-		const glm::tquat<T, P> dual = conjugate(q.dual);
-		return tdualquat<T, P>(real, dual + (real * (-2.0f * dot(real,dual))));
+		const glm::tquat<T, Q> real = conjugate(q.real);
+		const glm::tquat<T, Q> dual = conjugate(q.dual);
+		return tdualquat<T, Q>(real, dual + (real * (-2.0f * dot(real,dual))));
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tmat2x4<T, P> mat2x4_cast(tdualquat<T, P> const & x)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER mat<2, 4, T, Q> mat2x4_cast(tdualquat<T, Q> const& x)
 	{
-		return tmat2x4<T, P>( x[0].x, x[0].y, x[0].z, x[0].w, x[1].x, x[1].y, x[1].z, x[1].w );
+		return mat<2, 4, T, Q>( x[0].x, x[0].y, x[0].z, x[0].w, x[1].x, x[1].y, x[1].z, x[1].w );
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tmat3x4<T, P> mat3x4_cast(tdualquat<T, P> const & x)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER mat<3, 4, T, Q> mat3x4_cast(tdualquat<T, Q> const& x)
 	{
-		tquat<T, P> r = x.real / length2(x.real);
-		
-		tquat<T, P> const rr(r.w * x.real.w, r.x * x.real.x, r.y * x.real.y, r.z * x.real.z);
+		tquat<T, Q> r = x.real / length2(x.real);
+
+		tquat<T, Q> const rr(r.w * x.real.w, r.x * x.real.x, r.y * x.real.y, r.z * x.real.z);
 		r *= static_cast<T>(2);
-		
+
 		T const xy = r.x * x.real.y;
 		T const xz = r.x * x.real.z;
 		T const yz = r.y * x.real.z;
 		T const wx = r.w * x.real.x;
 		T const wy = r.w * x.real.y;
 		T const wz = r.w * x.real.z;
-		
-		tvec4<T, P> const a(
+
+		vec<4, T, Q> const a(
 			rr.w + rr.x - rr.y - rr.z,
 			xy - wz,
 			xz + wy,
 			-(x.dual.w * r.x - x.dual.x * r.w + x.dual.y * r.z - x.dual.z * r.y));
-		
-		tvec4<T, P> const b(
+
+		vec<4, T, Q> const b(
 			xy + wz,
 			rr.w + rr.y - rr.x - rr.z,
 			yz - wx,
 			-(x.dual.w * r.y - x.dual.x * r.z - x.dual.y * r.w + x.dual.z * r.x));
-		
-		tvec4<T, P> const c(
+
+		vec<4, T, Q> const c(
 			xz - wy,
 			yz + wx,
 			rr.w + rr.z - rr.x - rr.y,
 			-(x.dual.w * r.z + x.dual.x * r.y - x.dual.y * r.x - x.dual.z * r.w));
-		
-		return tmat3x4<T, P>(a, b, c);
+
+		return mat<3, 4, T, Q>(a, b, c);
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> dualquat_cast(tmat2x4<T, P> const & x)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> dualquat_cast(mat<2, 4, T, Q> const& x)
 	{
-		return tdualquat<T, P>(
-			tquat<T, P>( x[0].w, x[0].x, x[0].y, x[0].z ),
-			tquat<T, P>( x[1].w, x[1].x, x[1].y, x[1].z ));
+		return tdualquat<T, Q>(
+			tquat<T, Q>( x[0].w, x[0].x, x[0].y, x[0].z ),
+			tquat<T, Q>( x[1].w, x[1].x, x[1].y, x[1].z ));
 	}
 
-	template <typename T, precision P>
-	GLM_FUNC_QUALIFIER tdualquat<T, P> dualquat_cast(tmat3x4<T, P> const & x)
+	template<typename T, qualifier Q>
+	GLM_FUNC_QUALIFIER tdualquat<T, Q> dualquat_cast(mat<3, 4, T, Q> const& x)
 	{
-		tquat<T, P> real(uninitialize);
-		
+		tquat<T, Q> real;
+
 		T const trace = x[0].x + x[1].y + x[2].z;
 		if(trace > static_cast<T>(0))
 		{
@@ -340,12 +344,12 @@ namespace glm
 			real.z = static_cast<T>(0.5) * r;
 			real.w = (x[1].x - x[0].y) * invr;
 		}
-		
-		tquat<T, P> dual(uninitialize);
+
+		tquat<T, Q> dual;
 		dual.x =  static_cast<T>(0.5) * ( x[0].w * real.w + x[1].w * real.z - x[2].w * real.y);
 		dual.y =  static_cast<T>(0.5) * (-x[0].w * real.z + x[1].w * real.w + x[2].w * real.x);
 		dual.z =  static_cast<T>(0.5) * ( x[0].w * real.y - x[1].w * real.x + x[2].w * real.w);
 		dual.w = -static_cast<T>(0.5) * ( x[0].w * real.x + x[1].w * real.y + x[2].w * real.z);
-		return tdualquat<T, P>(real, dual);
+		return tdualquat<T, Q>(real, dual);
 	}
 }//namespace glm
-- 
cgit v1.2.3