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Implements a bunch of quaternion-specific functions
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| //====================================================================================================================== | ||
| /* | ||
| Kyosu - Complex Without Complexes | ||
| Copyright : KYOSU Contributors & Maintainers | ||
| SPDX-License-Identifier: BSL-1.0 | ||
| */ | ||
| //====================================================================================================================== | ||
| #pragma once | ||
|
|
||
| #include <kyosu/details/invoke.hpp> | ||
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| namespace kyosu::tags | ||
| { | ||
| struct callable_dot : eve::elementwise | ||
| { | ||
| using callable_tag_type = callable_dot; | ||
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| KYOSU_DEFERS_CALLABLE(dot_); | ||
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| static KYOSU_FORCEINLINE auto deferred_call(auto | ||
| , eve::ordered_value auto const& v0 | ||
| , eve::ordered_value auto const& v1) noexcept | ||
| { | ||
| return eve::dot(v0, v1); | ||
| } | ||
|
|
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| KYOSU_FORCEINLINE auto operator()(auto const& target0, auto const& target1 ) const noexcept | ||
| -> decltype(eve::tag_invoke(*this, target0, target1)) | ||
| { | ||
| return eve::tag_invoke(*this, target0, target1); | ||
| } | ||
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|
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| template<typename... T> | ||
| eve::unsupported_call<callable_dot(T&&...)> operator()(T&&... x) const | ||
| requires(!requires { eve::tag_invoke(*this, KYOSU_FWD(x)...); }) = delete; | ||
| }; | ||
| } | ||
|
|
||
| namespace kyosu | ||
| { | ||
| //====================================================================================================================== | ||
| //! @addtogroup functions | ||
| //! @{ | ||
| //! @var dot | ||
| //! @brief Computes elementwise the dot product of the coordinates of the corresponding element. | ||
| //! | ||
| //! **Defined in Header** | ||
| //! | ||
| //! @code | ||
| //! #include <kyosu/functions.hpp> | ||
| //! @endcode | ||
| //! | ||
| //! @groupheader{Callable Signatures} | ||
| //! | ||
| //! @code | ||
| //! namespace kyosu | ||
| //! { | ||
| //! template<kyosu::concepts::cayley_dickson T0, kyosu::concepts::cayley_dickson T1 > constexpr auto dot(T0 z0, T1, z1) noexcept; | ||
| //! template<eve::ordered_value T0, kyosu::concepts::cayley_dickson T1> > constexpr auto dot(T0 z0, T1, z1) noexcept; | ||
| //! template<kyosu::concepts::cayley_dickson T0, eve::ordered_value T1 > constexpr auto dot(T0 z0, T1, z1) noexcept; | ||
| //! template<eve::ordered_value T0, ordered_value T1> > constexpr auto dot(T0 z0, T1, z1) noexcept; | ||
| ///! } | ||
| //! @endcode | ||
| //! | ||
| //! **Parameters** | ||
| //! | ||
| //! * `z0, z1` : Value to process. | ||
| //! | ||
| //! **Return value** | ||
| //! | ||
| //! Returns the dot product of z0 and z1. If z0 and z1 are floating point this is equivalent to z0*z1. | ||
| //! | ||
| //! `dot(z0, z0)` is always semantically equivalent to `sqr_abs(z0)`. | ||
| //! | ||
| //! @groupheader{Example} | ||
| //! | ||
| //! @godbolt{doc/dot.cpp} | ||
| //! @} | ||
| //====================================================================================================================== | ||
| inline constexpr tags::callable_dot dot = {}; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,90 @@ | ||
| //================================================================================================== | ||
| /* | ||
| KYOSU - Expressive Vector Engine | ||
| Copyright : KYOSU Project Contributors | ||
| SPDX-License-Identifier: BSL-1.0 | ||
| */ | ||
| //================================================================================================== | ||
| #pragma once | ||
|
|
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| #include <kyosu/details/invoke.hpp> | ||
| #include <kyosu/types/impl/quaternion/axis.hpp> | ||
| #include <kyosu/functions/to_quaternion.hpp> | ||
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|
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| namespace kyosu::tags | ||
| { | ||
| struct callable_from_angle_axis : eve::elementwise | ||
| { | ||
| using callable_tag_type = callable_from_angle_axis; | ||
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| KYOSU_DEFERS_CALLABLE(from_angle_axis_); | ||
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| template<eve::ordered_value V, eve::ordered_value U> | ||
| static KYOSU_FORCEINLINE auto deferred_call(auto | ||
| , V const & angle | ||
| , std::span<U, 3> axis) noexcept | ||
| { | ||
| auto q = to_quaternion(U(0), axis[0], axis[1], axis[2]); | ||
| auto [s, c] = eve::sincos(angle*eve::half(eve::as(angle))); | ||
| return c+s*q; | ||
| } | ||
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| template<typename T0, typename T1> | ||
| KYOSU_FORCEINLINE auto operator()(T0 const& target0, | ||
| T1 const& target1 | ||
| ) const noexcept | ||
| -> decltype(eve::tag_invoke(*this, target0, target1)) | ||
| { | ||
| return eve::tag_invoke(*this, target0, target1); | ||
| } | ||
|
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| template<typename... T> | ||
| eve::unsupported_call<callable_from_angle_axis(T&&...)> operator()(T&&... x) const | ||
| requires(!requires { eve::tag_invoke(*this, KYOSU_FWD(x)...); }) = delete; | ||
| }; | ||
| } | ||
|
|
||
| namespace kyosu | ||
| { | ||
| //================================================================================================ | ||
| //! @addtogroup quaternion | ||
| //! @{ | ||
| //! @var from_angle_axis | ||
| //! | ||
| //! @brief Callable object computing a quaternion from its angle_axis representation. | ||
| //! | ||
| //! This function build an unitary quaternion from an angle value and a 3 dimensionnal axis vector | ||
| //! | ||
| //! **Defined in header** | ||
| //! | ||
| //! @code | ||
| //! #include kyosu/module/quaternion.hpp>` | ||
| //! @endcode | ||
| //! | ||
| //! @groupheader{Callable Signatures} | ||
| //! | ||
| //! @code | ||
| //! namespace kyosu | ||
| //! { | ||
| //! auto from_angle_axis(auto angle, auto axis, auto norming = normalize) const noexcept; | ||
| //! } | ||
| //! @endcode | ||
| //! | ||
| //! **Parameters** | ||
| //! | ||
| //! * `angle` : rotation angle in radian | ||
| //! * `axis`` : rotation axis given by an std::span of dimension 3. | ||
| //! * normalize : can be assume_normalized or normalize in the second case axis is normalized. | ||
| //! if axis is already normalized use assume_normalized. | ||
| //! | ||
| //! **Return value** | ||
| //! | ||
| //! the quaternion value representing the rotation. | ||
| //! | ||
| //! @groupheader{Example} | ||
| //! | ||
| //! @godbolt{doc/quaternion/regular/conversions.cpp} | ||
| //! @} | ||
| //================================================================================================ | ||
| inline constexpr tags::callable_from_angle_axis from_angle_axis = {}; | ||
| } |
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