X-Git-Url: https://git.dogcows.com/gitweb?p=chaz%2Fyoink;a=blobdiff_plain;f=src%2FMoof%2Fcml%2Fquaternion%2Fquaternion_expr.h;fp=src%2FMoof%2Fcml%2Fquaternion%2Fquaternion_expr.h;h=dcec9fd68a3a2c158699382f7688471543c8d965;hp=0000000000000000000000000000000000000000;hb=c2321281bf12a7efaedde930422c7ddbc92080d4;hpb=87bc17e55b0c1dc73ecc66df856d3f08fd7a7724

diff --git a/src/Moof/cml/quaternion/quaternion_expr.h b/src/Moof/cml/quaternion/quaternion_expr.h
new file mode 100644
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+++ b/src/Moof/cml/quaternion/quaternion_expr.h
@@ -0,0 +1,614 @@
+/* -*- 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_expr_h
+#define quaternion_expr_h
+
+#include <cml/et/size_checking.h>
+#include <cml/mathlib/epsilon.h>
+#include <cml/quaternion/quaternion_traits.h>
+#include <cml/quaternion/quaternion_promotions.h>
+#include <cml/util.h>
+
+#define QUATXPR_ARG_TYPE  const et::QuaternionXpr<XprT>&
+#define QUATXPR_ARG_TYPE_N(_N_)  const et::QuaternionXpr<XprT##_N_>&
+
+namespace cml {
+namespace et {
+
+/** A placeholder for a quaternion expression in an expression tree. */
+template<class ExprT>
+class QuaternionXpr
+{
+  public:
+
+    typedef QuaternionXpr<ExprT> expr_type;
+
+    /* Record ary-ness of the expression: */
+    typedef typename ExprT::expr_ary expr_ary;
+
+    /* Copy the expression by value into higher-up expressions: */
+    typedef expr_type expr_const_reference;
+
+    typedef typename ExprT::value_type value_type;
+    typedef quaternion_result_tag result_tag;
+    typedef typename ExprT::size_tag size_tag;
+
+    /* Store the expression traits: */
+    typedef ExprTraits<ExprT> expr_traits;
+
+    /* Get the reference type: */
+    typedef typename expr_traits::const_reference expr_reference;
+
+    /* Get the result type: */
+    typedef typename expr_traits::result_type result_type;
+
+    /* Get the vector type: */
+    typedef typename result_type::vector_type vector_type;
+
+    /* Get the imaginary part type: */
+    typedef typename vector_type::subvector_type imaginary_type;
+
+    /* For matching by assignability: */
+    typedef cml::et::not_assignable_tag assignable_tag;
+
+    /* Get the temporary type: */
+    typedef typename result_type::temporary_type temporary_type;
+
+    /* Record the order type: */
+    typedef typename result_type::order_type order_type;
+    
+    /* Record the cross type: */
+    typedef typename result_type::cross_type cross_type;
+
+
+  public:
+
+    /** Record result size as an enum. */
+    enum { array_size = ExprT::array_size };
+
+
+  public:
+
+    /** Return the real part of the expression. */
+    value_type real() const {
+        return m_expr.real();
+    }
+
+    /** Return the vector part of the expression. */
+    imaginary_type imaginary() const {
+        return m_expr.imaginary();
+    }
+
+    /** Return the Cayley norm of the expression. */
+    value_type norm() const {
+        return m_expr.length_squared();
+    }
+
+    /** Return square of the quaternion length. */
+    value_type length_squared() const {
+        return m_expr.length_squared();
+    }
+
+    /** Return the quaternion length. */
+    value_type length() const {
+        return m_expr.length();
+    }
+
+    /** Return the result as a normalized quaternion. */
+    temporary_type normalize() const {
+        return m_expr.normalize();
+    }
+
+    /** Return the log of the expression. */
+    temporary_type log(
+        value_type tolerance = epsilon<value_type>::placeholder()) const
+    {
+        return m_expr.log(tolerance);
+    }
+
+    /** 
+     * Return the result of the exponential function as applied to
+     * this expression.
+     */
+    temporary_type exp(
+        value_type tolerance = epsilon<value_type>::placeholder()) const
+    {
+        return m_expr.exp(tolerance);
+    }
+
+    /** Compute value at index i of the result quaternion. */
+    value_type operator[](size_t i) const {
+        return m_expr[i];
+    }
+
+
+  public:
+
+    /** Return size of this expression (same as subexpression's size). */
+    size_t size() const {
+        return m_expr.size();
+    }
+
+    /** Return reference to contained expression. */
+    expr_reference expression() const { return m_expr; }
+
+
+  public:
+
+    /** Construct from the subexpression to store. */
+    explicit QuaternionXpr(expr_reference expr) : m_expr(expr) {}
+
+    /** Copy constructor. */
+    QuaternionXpr(const expr_type& e) : m_expr(e.m_expr) {}
+
+
+  protected:
+
+    expr_reference m_expr;
+
+
+  private:
+
+    /* Cannot be assigned to: */
+    expr_type& operator=(const expr_type&);
+};
+
+/** Expression traits class for QuaternionXpr<>. */
+template<class ExprT>
+struct ExprTraits< QuaternionXpr<ExprT> >
+{
+    typedef QuaternionXpr<ExprT> expr_type;
+    typedef ExprT arg_type;
+    typedef typename expr_type::value_type value_type;
+    typedef typename expr_type::expr_const_reference const_reference;
+    typedef typename expr_type::result_tag result_tag;
+    typedef typename expr_type::size_tag size_tag;
+    typedef typename expr_type::result_type result_type;
+    typedef typename expr_type::assignable_tag not_assignable_tag;
+    typedef expr_node_tag node_tag;
+
+    value_type get(const expr_type& v, size_t i) const { return v[i]; }
+    size_t size(const expr_type& e) const { return e.size(); }
+};
+
+
+/** A unary quaternion expression.
+ *
+ * The operator's operator() method must take exactly one argument.
+ */
+template<class ExprT, class OpT>
+class UnaryQuaternionOp
+{
+  public:
+
+    typedef UnaryQuaternionOp<ExprT,OpT> expr_type;
+
+    /* Record ary-ness of the expression: */
+    typedef unary_expression expr_ary;
+
+    /* Copy the expression by value into higher-up expressions: */
+    typedef expr_type expr_const_reference;
+
+    typedef typename OpT::value_type value_type;
+    typedef quaternion_result_tag result_tag;
+    typedef typename ExprT::size_tag size_tag;
+
+    /* Store the expression traits for the subexpression: */
+    typedef ExprTraits<ExprT> expr_traits;
+
+    /* Reference type for the subexpression: */
+    typedef typename expr_traits::const_reference expr_reference;
+
+    /* Get the result type (same as for subexpression): */
+    typedef typename expr_traits::result_type result_type;
+
+    /* For matching by assignability: */
+    typedef cml::et::not_assignable_tag assignable_tag;
+
+    /* Get the temporary type: */
+    typedef typename result_type::temporary_type temporary_type;
+
+    /* Get the vector type: */
+    typedef typename result_type::vector_type vector_type;
+
+    /* Get the imaginary part type: */
+    typedef typename vector_type::subvector_type imaginary_type;
+
+    /* Record the order type: */
+    typedef typename result_type::order_type order_type;
+
+
+  public:
+
+    /** Record result size as an enum. */
+    enum { array_size = ExprT::array_size };
+
+    /** Localize the ordering as an enum. */
+    enum {
+        W = order_type::W,
+        X = order_type::X,
+        Y = order_type::Y,
+        Z = order_type::Z
+    };
+
+
+  public:
+
+    /** Return the real part of the expression. */
+    value_type real() const {
+        return (*this)[W];
+    }
+
+    /** Return the vector part of the expression. */
+    imaginary_type imaginary() const {
+        imaginary_type v;
+        v[0] = (*this)[X]; v[1] = (*this)[Y]; v[2] = (*this)[Z];
+        return v;
+    }
+
+    /** Return the Cayley norm of the expression. */
+    value_type norm() const {
+        return length_squared();
+    }
+
+    /** Return square of the quaternion length. */
+    value_type length_squared() const {
+        return dot(
+                QuaternionXpr<expr_type>(*this),
+                QuaternionXpr<expr_type>(*this));
+    }
+
+    /** Return the quaternion length. */
+    value_type length() const {
+        return std::sqrt(length_squared());
+    }
+
+    /** Return the result as a normalized quaternion. */
+    temporary_type normalize() const {
+        temporary_type q(QuaternionXpr<expr_type>(*this));
+        return q.normalize();
+    }
+
+    /** Return the log of this expression. */
+    temporary_type log(
+        value_type tolerance = epsilon<value_type>::placeholder()) const
+    {
+        value_type a = acos_safe(real());
+        value_type s = std::sin(a);
+        
+        if (s > tolerance) {
+            return temporary_type(value_type(0), imaginary() * (a / s));
+        } else {
+            return temporary_type(value_type(0), imaginary());
+        }
+    }
+    
+    /** 
+     * Return the result of the exponential function as applied to
+     * this expression.
+     */
+    temporary_type exp(
+        value_type tolerance = epsilon<value_type>::placeholder()) const
+    {
+        imaginary_type v = imaginary();
+        value_type a = cml::length(v);
+        
+        if (a > tolerance) {
+            return temporary_type(std::cos(a), v * (std::sin(a) / a));
+        } else {
+            return temporary_type(std::cos(a), v);
+        }
+    }
+
+    /** Compute value at index i of the result quaternion. */
+    value_type operator[](size_t i) const {
+
+        /* This uses the expression traits to figure out how to access the
+         * i'th index of the subexpression:
+         */
+        return OpT().apply(expr_traits().get(m_expr,i));
+    }
+
+
+  public:
+
+    /** Return size of this expression (same as argument's size). */
+    size_t size() const {
+        return m_expr.size();
+    }
+
+    /** Return reference to contained expression. */
+    expr_reference expression() const { return m_expr; }
+
+
+  public:
+
+    /** Construct from the subexpression. */
+    explicit UnaryQuaternionOp(expr_reference expr) : m_expr(expr) {}
+
+    /** Copy constructor. */
+    UnaryQuaternionOp(const expr_type& e) : m_expr(e.m_expr) {}
+
+
+  protected:
+
+    expr_reference m_expr;
+
+
+  private:
+
+    /* Cannot be assigned to: */
+    expr_type& operator=(const expr_type&);
+};
+
+/** Expression traits class for UnaryQuaternionOp<>. */
+template<class ExprT, class OpT>
+struct ExprTraits< UnaryQuaternionOp<ExprT,OpT> >
+{
+    typedef UnaryQuaternionOp<ExprT,OpT> expr_type;
+    typedef ExprT arg_type;
+
+    typedef typename expr_type::value_type value_type;
+    typedef typename expr_type::expr_const_reference const_reference;
+    typedef typename expr_type::result_tag result_tag;
+    typedef typename expr_type::size_tag size_tag;
+    typedef typename expr_type::result_type result_type;
+    typedef typename expr_type::assignable_tag not_assignable_tag;
+    typedef expr_node_tag node_tag;
+
+    value_type get(const expr_type& v, size_t i) const { return v[i]; }
+    size_t size(const expr_type& e) const { return e.size(); }
+};
+
+
+/** A binary quaternion expression.
+ *
+ * The operator's operator() method must take exactly two arguments.
+ */
+template<class LeftT, class RightT, class OpT>
+class BinaryQuaternionOp
+{
+  public:
+
+    typedef BinaryQuaternionOp<LeftT,RightT,OpT> expr_type;
+
+    /* Record ary-ness of the expression: */
+    typedef binary_expression expr_ary;
+
+    /* Copy the expression by value into higher-up expressions: */
+    typedef expr_type expr_const_reference;
+
+    typedef typename OpT::value_type value_type;
+    typedef quaternion_result_tag result_tag;
+
+    /* Store the expression traits types for the two subexpressions: */
+    typedef ExprTraits<LeftT> left_traits;
+    typedef ExprTraits<RightT> right_traits;
+
+    /* Reference types for the two subexpressions: */
+    typedef typename left_traits::const_reference left_reference;
+    typedef typename right_traits::const_reference right_reference;
+
+    /* Figure out the expression's resulting (quaternion) type: */
+    typedef typename left_traits::result_type left_result;
+    typedef typename right_traits::result_type right_result;
+    typedef typename QuaternionPromote<left_result,right_result>::type
+        result_type;
+    typedef typename result_type::size_tag size_tag;
+
+    /* For matching by assignability: */
+    typedef cml::et::not_assignable_tag assignable_tag;
+
+    /* Get the temporary type: */
+    typedef typename result_type::temporary_type temporary_type;
+
+    /* Get the vector type: */
+    typedef typename result_type::vector_type vector_type;
+
+    /* Get the imaginary part type: */
+    typedef typename vector_type::subvector_type imaginary_type;
+
+    /* Record the order type: */
+    typedef typename result_type::order_type order_type;
+
+    /* Define a size checker: */
+    typedef GetCheckedSize<LeftT,RightT,size_tag> checked_size;
+
+
+  public:
+
+    /** Record result size as an enum. */
+    enum { array_size = 4 };
+
+    /** Localize the ordering as an enum. */
+    enum {
+        W = order_type::W,
+        X = order_type::X,
+        Y = order_type::Y,
+        Z = order_type::Z
+    };
+
+
+  public:
+
+    /** Return the real part of the expression. */
+    value_type real() const {
+        return (*this)[W];
+    }
+
+    /** Return the vector part of the expression. */
+    imaginary_type imaginary() const {
+        imaginary_type v;
+        v[0] = (*this)[X]; v[1] = (*this)[Y]; v[2] = (*this)[Z];
+        return v;
+    }
+
+    /** Return the Cayley norm of the expression. */
+    value_type norm() const {
+        return length_squared();
+    }
+
+    /** Return square of the quaternion length. */
+    value_type length_squared() const {
+        return dot(
+                QuaternionXpr<expr_type>(*this),
+                QuaternionXpr<expr_type>(*this));
+    }
+
+    /** Return the quaternion length. */
+    value_type length() const {
+        return std::sqrt(length_squared());
+    }
+
+    /** Return the result as a normalized quaternion. */
+    temporary_type normalize() const {
+        temporary_type q(QuaternionXpr<expr_type>(*this));
+        return q.normalize();
+    }
+
+    /** Return the log of this expression. */
+    temporary_type log(
+        value_type tolerance = epsilon<value_type>::placeholder()) const
+    {
+        value_type a = acos_safe(real());
+        value_type s = std::sin(a);
+        
+        if (s > tolerance) {
+            return temporary_type(value_type(0), imaginary() * (a / s));
+        } else {
+            return temporary_type(value_type(0), imaginary());
+        }
+    }
+    
+    /** 
+     * Return the result of the exponential function as applied to
+     * this expression.
+     */
+    temporary_type exp(
+        value_type tolerance = epsilon<value_type>::placeholder()) const
+    {
+        imaginary_type v = imaginary();
+        value_type a = cml::length(v);
+        
+        if (a > tolerance) {
+            return temporary_type(std::cos(a), v * (std::sin(a) / a));
+        } else {
+            return temporary_type(std::cos(a), v);
+        }
+    }
+
+    /** Compute value at index i of the result quaternion. */
+    value_type operator[](size_t i) const {
+
+        /* This uses the expression traits to figure out how to access the
+         * i'th index of the two subexpressions:
+         */
+        return OpT().apply(
+                left_traits().get(m_left,i),
+                right_traits().get(m_right,i));
+    }
+
+
+  public:
+
+    /** Return the size of the quaternion result.
+     *
+     * @throws std::invalid_argument if the expressions do not have the same
+     * size.
+     */
+    size_t size() const {
+        /* Note: This actually does a check only if
+         * CML_CHECK_VECTOR_EXPR_SIZES is set:
+         */
+        CheckedSize(m_left,m_right,size_tag());
+
+        /* The size is always 4: */
+        return 4;
+    }
+
+    /** Return reference to left expression. */
+    left_reference left_expression() const { return m_left; }
+
+    /** Return reference to right expression. */
+    right_reference right_expression() const { return m_right; }
+
+
+  public:
+
+    /** Construct from the two subexpressions. */
+    explicit BinaryQuaternionOp(left_reference left, right_reference right)
+        : m_left(left), m_right(right) {}
+
+    /** Copy constructor. */
+    BinaryQuaternionOp(const expr_type& e)
+        : m_left(e.m_left), m_right(e.m_right) {}
+
+
+  protected:
+
+    left_reference m_left;
+    right_reference m_right;
+
+
+  private:
+
+    /* This ensures that a compile-time size check is executed: */
+    typename checked_size::check_type _dummy;
+
+
+  private:
+
+    /* Cannot be assigned to: */
+    expr_type& operator=(const expr_type&);
+};
+
+/** Expression traits class for BinaryQuaternionOp<>. */
+template<class LeftT, class RightT, class OpT>
+struct ExprTraits< BinaryQuaternionOp<LeftT,RightT,OpT> >
+{
+    typedef BinaryQuaternionOp<LeftT,RightT,OpT> expr_type;
+    typedef LeftT left_type;
+    typedef RightT right_type;
+
+    typedef typename expr_type::value_type value_type;
+    typedef typename expr_type::expr_const_reference const_reference;
+    typedef typename expr_type::result_tag result_tag;
+    typedef typename expr_type::size_tag size_tag;
+    typedef typename expr_type::result_type result_type;
+    typedef typename expr_type::imaginary_type imaginary_type;
+    typedef typename expr_type::assignable_tag not_assignable_tag;
+    typedef expr_node_tag node_tag;
+
+    value_type get(const expr_type& v, size_t i) const { return v[i]; }
+    size_t size(const expr_type& e) const { return e.size(); }
+};
+
+
+/* Helper struct to verify that both arguments are quaternion expressions: */
+template<class LeftTraits, class RightTraits>
+struct QuaternionExpressions
+{
+    /* Require that both arguments are quaternion expressions: */
+    typedef typename LeftTraits::result_tag left_result;
+    typedef typename RightTraits::result_tag right_result;
+    enum { is_true = (same_type<left_result,et::quaternion_result_tag>::is_true
+            && same_type<right_result,et::quaternion_result_tag>::is_true) };
+};
+
+} // namespace et
+} // namespace cml
+
+#endif
+
+// -------------------------------------------------------------------------
+// vim:ft=cpp