Dogcows Code - chaz/yoink/blob - src/moof/cml/quaternion/quaternion_dot.h

   1 /* -*- C++ -*- ------------------------------------------------------------
   2
   3 Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
   4
   5 The Configurable Math Library (CML) is distributed under the terms of the
   6 Boost Software License, v1.0 (see cml/LICENSE for details).
   7
   8  *-----------------------------------------------------------------------*/
   9 /** @file
  10  *  @brief
  11  */
  12
  13 #ifndef quaternion_dot_h
  14 #define quaternion_dot_h
  15
  16 #include <cml/vector/vector_products.h>
  17 #include <cml/quaternion/quaternion_expr.h>
  18
  19 namespace cml {
  20 namespace detail {
  21
  22 template<class LeftT, class RightT> inline
  23 typename detail::DotPromote<LeftT,RightT>::promoted_scalar
  24 quaternion_dot(const LeftT& p, const RightT& q)
  25 {
  26     return p[0]*q[0] + p[1]*q[1] + p[2]*q[2] + p[3]*q[3];
  27 }
  28
  29 } // namespace detail
  30
  31 template<typename E1, class AT1, typename E2, class AT2, class OT, class CT>
  32 inline typename detail::DotPromote<
  33     quaternion<E1,AT1,OT,CT>, quaternion<E2,AT2,OT,CT>
  34 >::promoted_scalar
  35 dot(const quaternion<E1,AT1,OT,CT>& p,
  36     const quaternion<E2,AT2,OT,CT>& q)
  37 {
  38     return detail::quaternion_dot(p,q);
  39 }
  40
  41 template<typename E, class AT, class OT, class CT, class XprT>
  42 inline typename detail::DotPromote<
  43     quaternion<E,AT,OT,CT>, et::QuaternionXpr<XprT>
  44 >::promoted_scalar
  45 dot(const quaternion<E,AT,OT,CT>& p, QUATXPR_ARG_TYPE q)
  46 {
  47     return detail::quaternion_dot(p,q);
  48 }
  49
  50 template<class XprT, typename E, class AT, class OT, class CT>
  51 inline typename detail::DotPromote<
  52     et::QuaternionXpr<XprT>, quaternion<E,AT,OT,CT>
  53 >::promoted_scalar
  54 dot(QUATXPR_ARG_TYPE p, const quaternion<E,AT,OT,CT>& q)
  55 {
  56     return detail::quaternion_dot(p,q);
  57 }
  58
  59 template<class XprT1, class XprT2> inline
  60 typename detail::DotPromote<
  61     et::QuaternionXpr<XprT1>, et::QuaternionXpr<XprT2>
  62 >::promoted_scalar
  63 dot(QUATXPR_ARG_TYPE_N(1) p, QUATXPR_ARG_TYPE_N(2) q)
  64 {
  65     return detail::quaternion_dot(p,q);
  66 }
  67
  68 } // namespace cml
  69
  70 #endif
  71
  72 // -------------------------------------------------------------------------
  73 // vim:ft=cpp