extreme refactoring

[chaz/yoink] / src / cml / mathlib / quaternion_basis.h

diff --git a/src/cml/mathlib/quaternion_basis.h b/src/cml/mathlib/quaternion_basis.h
deleted file mode 100644 (file)
index 5c4633e..0000000
--- a/src/cml/mathlib/quaternion_basis.h
+++ /dev/null
@@ -1,89 +0,0 @@
-/* -*- C++ -*- ------------------------------------------------------------
- 
-Copyright (c) 2007 Jesse Anders and Demian Nave http://cmldev.net/
-
-The Configurable Math Library (CML) is distributed under the terms of the
-Boost Software License, v1.0 (see cml/LICENSE for details).
-
- *-----------------------------------------------------------------------*/
-/** @file
- *  @brief
- */
-
-#ifndef quaternion_basis_h
-#define quaternion_basis_h
-
-#include <cml/mathlib/checking.h>
-
-/* Functions for getting the basis vectors of a quaternion rotation. */
-
-namespace cml {
-
-/** Get the i'th basis vector of a quaternion rotation */
-template < class QuatT > vector< typename QuatT::value_type, fixed<3> >
-quaternion_get_basis_vector(const QuatT& q, size_t i)
-{
-    typedef QuatT quaternion_type;
-    typedef typename quaternion_type::value_type value_type;
-    typedef typename quaternion_type::order_type order_type;
-    typedef vector< value_type, fixed<3> > vector_type;
-
-    /* Checking */
-    detail::CheckQuat(q);
-    detail::CheckIndex3(i);
-
-    size_t j, k;
-    cyclic_permutation(i, i, j, k);
-    
-    /* @todo: Clean this up. */
-    const size_t W = order_type::W;
-    const size_t I = order_type::X + i;
-    const size_t J = order_type::X + j;
-    const size_t K = order_type::X + k;
-    
-    value_type j2 = q[J] + q[J];
-    value_type k2 = q[K] + q[K];
-    
-    /* @todo: use set_permuted() for the following when available. */
-
-    vector_type result;
-    result[i] = value_type(1) - q[J] * j2 - q[K] * k2;
-    result[j] = q[I] * j2 + q[W] * k2;
-    result[k] = q[I] * k2 - q[W] * j2;
-    return result;
-}
-
-/** Get the x basis vector of a quaternion rotation */
-template < class QuatT > vector< typename QuatT::value_type, fixed<3> >
-quaternion_get_x_basis_vector(const QuatT& q) {
-    return quaternion_get_basis_vector(q,0);
-}
-
-/** Get the y basis vector of a quaternion rotation */
-template < class QuatT > vector< typename QuatT::value_type, fixed<3> >
-quaternion_get_y_basis_vector(const QuatT& q) {
-    return quaternion_get_basis_vector(q,1);
-}
-
-/** Get the z basis vector of a quaternion rotation */
-template < class QuatT > vector< typename QuatT::value_type, fixed<3> >
-quaternion_get_z_basis_vector(const QuatT& q) {
-    return quaternion_get_basis_vector(q,2);
-}
-
-/** Get the basis vectors of a quaternion rotation */
-template < class QuatT, typename E, class A > void
-quaternion_get_basis_vectors(
-    const QuatT& q,
-    vector<E,A>& x,
-    vector<E,A>& y,
-    vector<E,A>& z)
-{
-    x = quaternion_get_x_basis_vector(q);
-    y = quaternion_get_y_basis_vector(q);
-    z = quaternion_get_z_basis_vector(q);
-}
-
-} // namespace cml
-
-#endif