extreme refactoring

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

diff --git a/src/cml/quaternion/quaternion_mul.h b/src/cml/quaternion/quaternion_mul.h
deleted file mode 100644 (file)
index bfb533b..0000000
--- a/src/cml/quaternion/quaternion_mul.h
+++ /dev/null
@@ -1,140 +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 Multiplication of two quaternions, p*q.
- *
- * This uses the expression tree, since the result is closed-form and can be
- * computed by index.
- */
-
-#ifndef quaternion_mul_h
-#define quaternion_mul_h
-
-#include <cml/mathlib/checking.h>
-#include <cml/quaternion/quaternion_promotions.h>
-
-namespace cml {
-namespace detail {
-
-template < class CrossType, class Real > struct SumOp;
-
-template < class Real > struct SumOp< positive_cross, Real > {
-    Real operator()(Real a, Real b) const {
-        return a + b;
-    }
-};
-
-template < class Real > struct SumOp< negative_cross, Real > {
-    Real operator()(Real a, Real b) const {
-        return a - b;
-    }
-};
-
-template < class Quat1_T, class Quat2_T >
-typename et::QuaternionPromote<
-    typename Quat1_T::temporary_type, typename Quat2_T::temporary_type
->::temporary_type
-QuaternionMult(const Quat1_T& q1, const Quat2_T& q2)
-{
-    detail::CheckQuat(q1);
-    detail::CheckQuat(q2);
-    
-    typedef typename et::QuaternionPromote<
-        typename Quat1_T::temporary_type, typename Quat2_T::temporary_type
-    >::temporary_type temporary_type;
-
-    typedef typename temporary_type::value_type value_type;
-    typedef typename temporary_type::order_type order_type;
-    typedef typename temporary_type::cross_type cross_type;
-
-    typedef detail::SumOp<cross_type, value_type> sum_op;
-
-    enum {
-        W = order_type::W,
-        X = order_type::X,
-        Y = order_type::Y,
-        Z = order_type::Z
-    };
-    
-    temporary_type result;
-
-    /* s1*s2-dot(v1,v2): */
-    result[W] =
-        q1[W]*q2[W] - q1[X]*q2[X] - q1[Y]*q2[Y] - q1[Z]*q2[Z];
-
-    /* (s1*v2 + s2*v1 + v1^v2) i: */
-    result[X] =
-        sum_op()(q1[W]*q2[X] + q2[W]*q1[X], q1[Y]*q2[Z] - q1[Z]*q2[Y]);
-
-    /* (s1*v2 + s2*v1 + v1^v2) j: */
-    result[Y] =
-        sum_op()(q1[W]*q2[Y] + q2[W]*q1[Y], q1[Z]*q2[X] - q1[X]*q2[Z]);
-
-    /* (s1*v2 + s2*v1 + v1^v2) k: */
-    result[Z] =
-        sum_op()(q1[W]*q2[Z] + q2[W]*q1[Z], q1[X]*q2[Y] - q1[Y]*q2[X]);
-
-    return result;
-}
-
-} // namespace detail
-
-/** Declare mul taking two quaternion operands. */
-template<typename E1, class AT1, typename E2, class AT2, class OT, class CT>
-inline typename et::QuaternionPromote<
-    typename quaternion<E1,AT1,OT,CT>::temporary_type,
-    typename quaternion<E2,AT2,OT,CT>::temporary_type
->::temporary_type operator*(
-    const quaternion<E1,AT1,OT,CT>& left,
-    const quaternion<E2,AT2,OT,CT>& right)
-{
-    return detail::QuaternionMult(left, right);
-}
-
-/** Declare mul taking a quaternion and a et::QuaternionXpr. */
-template<typename E, class AT, class OT, class CT, class XprT>
-inline typename et::QuaternionPromote<
-    typename quaternion<E,AT,OT,CT>::temporary_type,
-    typename XprT::temporary_type
->::temporary_type operator*(
-    const quaternion<E,AT,OT,CT>& left,
-    QUATXPR_ARG_TYPE right)
-{
-    return detail::QuaternionMult(left, right);
-}
-
-/** Declare mul taking an et::QuaternionXpr and a quaternion. */
-template<class XprT, typename E, class AT, class OT, class CT>
-inline typename et::QuaternionPromote<
-    typename XprT::temporary_type,
-    typename quaternion<E,AT,OT,CT>::temporary_type
->::temporary_type operator*(
-    QUATXPR_ARG_TYPE left,
-    const quaternion<E,AT,OT,CT>& right)
-{
-    return detail::QuaternionMult(left, right);
-}
-
-/** Declare mul taking two et::QuaternionXpr operands. */
-template<class XprT1, class XprT2>
-inline typename et::QuaternionPromote<
-    typename XprT1::temporary_type, typename XprT2::temporary_type
->::temporary_type operator*(
-    QUATXPR_ARG_TYPE_N(1) left,
-    QUATXPR_ARG_TYPE_N(2) right)
-{
-    return detail::QuaternionMult(left, right);
-}
-
-} // namespace cml
-
-#endif
-
-// -------------------------------------------------------------------------
-// vim:ft=cpp