now using cml for vectors and math stuff

[chaz/yoink] / src / cml / quaternion / quaternion_dot.h

diff --git a/src/cml/quaternion/quaternion_dot.h b/src/cml/quaternion/quaternion_dot.h
new file mode 100644 (file)
index 0000000..72a53e2
--- /dev/null
+++ b/src/cml/quaternion/quaternion_dot.h
@@ -0,0 +1,73 @@
+/* -*- 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_dot_h
+#define quaternion_dot_h
+
+#include <cml/vector/vector_products.h>
+#include <cml/quaternion/quaternion_expr.h>
+
+namespace cml {
+namespace detail {
+
+template<class LeftT, class RightT> inline
+typename detail::DotPromote<LeftT,RightT>::promoted_scalar
+quaternion_dot(const LeftT& p, const RightT& q)
+{
+    return p[0]*q[0] + p[1]*q[1] + p[2]*q[2] + p[3]*q[3];
+}
+
+} // namespace detail
+
+template<typename E1, class AT1, typename E2, class AT2, class OT, class CT>
+inline typename detail::DotPromote<
+    quaternion<E1,AT1,OT,CT>, quaternion<E2,AT2,OT,CT>
+>::promoted_scalar
+dot(const quaternion<E1,AT1,OT,CT>& p,
+    const quaternion<E2,AT2,OT,CT>& q)
+{
+    return detail::quaternion_dot(p,q);
+}
+
+template<typename E, class AT, class OT, class CT, class XprT>
+inline typename detail::DotPromote<
+    quaternion<E,AT,OT,CT>, et::QuaternionXpr<XprT>
+>::promoted_scalar
+dot(const quaternion<E,AT,OT,CT>& p, QUATXPR_ARG_TYPE q)
+{
+    return detail::quaternion_dot(p,q);
+}
+
+template<class XprT, typename E, class AT, class OT, class CT>
+inline typename detail::DotPromote<
+    et::QuaternionXpr<XprT>, quaternion<E,AT,OT,CT>
+>::promoted_scalar
+dot(QUATXPR_ARG_TYPE p, const quaternion<E,AT,OT,CT>& q)
+{
+    return detail::quaternion_dot(p,q);
+}
+
+template<class XprT1, class XprT2> inline
+typename detail::DotPromote<
+    et::QuaternionXpr<XprT1>, et::QuaternionXpr<XprT2>
+>::promoted_scalar
+dot(QUATXPR_ARG_TYPE_N(1) p, QUATXPR_ARG_TYPE_N(2) q)
+{
+    return detail::quaternion_dot(p,q);
+}
+
+} // namespace cml
+
+#endif
+
+// -------------------------------------------------------------------------
+// vim:ft=cpp