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server/dep/src/g3dlite/Quat.cpp
Lynx3d ae3ad10bcf [10097] Update G3D up to v8.0b4 
+ Got rid of zip lib requirement in G3D...
  Still can re-enable code by defining _HAVE_ZIP...

+ Remove silly X11 lib dependency from G3D
  Code doesn't seem to do anything yet anyway, and even if, we don't want it :p

+ Fix another weird G3D build problem...

+ Remove some __asm usage in g3d, which is not available on Win64
  My editor also decided to remove a ton of trailing white spaces...tss...

+ Reapply G3D fixes for 64bit VC

+ not use SSE specific header when SSE not enabled in *nix

+ Updated project files

+ New vmap_assembler VC90/VC80 Project

+ vmap assembler binaries updates

NOTE: Old vmap fikes expected work (as tests show) with new library version.
      But better use new generated versions. Its different in small parts to bad or good...

(based on Lynx3d's repo commit 44798d3)

Signed-off-by: VladimirMangos <vladimir@getmangos.com>
2010-06-23 06:45:25 +04:00

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/**
@file Quat.cpp
Quaternion implementation based on Watt & Watt page 363
@author Morgan McGuire, graphics3d.com
@created 2002-01-23
@edited 2006-01-31
*/
#include "G3D/Quat.h"
#include "G3D/BinaryInput.h"
#include "G3D/BinaryOutput.h"
namespace G3D {
Quat Quat::fromAxisAngleRotation(
const Vector3& axis,
float angle) {
Quat q;
q.w = cos(angle / 2.0f);
q.imag() = axis.direction() * sin(angle / 2.0f);
return q;
}
Quat::Quat(
const Matrix3& rot) {
static const int plus1mod3[] = {1, 2, 0};
// Find the index of the largest diagonal component
// These ? operations hopefully compile to conditional
// move instructions instead of branches.
int i = (rot[1][1] > rot[0][0]) ? 1 : 0;
i = (rot[2][2] > rot[i][i]) ? 2 : i;
// Find the indices of the other elements
int j = plus1mod3[i];
int k = plus1mod3[j];
// Index the elements of the vector part of the quaternion as a float*
float* v = (float*)(this);
// If we attempted to pre-normalize and trusted the matrix to be
// perfectly orthonormal, the result would be:
//
// double c = sqrt((rot[i][i] - (rot[j][j] + rot[k][k])) + 1.0)
// v[i] = -c * 0.5
// v[j] = -(rot[i][j] + rot[j][i]) * 0.5 / c
// v[k] = -(rot[i][k] + rot[k][i]) * 0.5 / c
// w = (rot[j][k] - rot[k][j]) * 0.5 / c
//
// Since we're going to pay the sqrt anyway, we perform a post normalization, which also
// fixes any poorly normalized input. Multiply all elements by 2*c in the above, giving:
// nc2 = -c^2
double nc2 = ((rot[j][j] + rot[k][k]) - rot[i][i]) - 1.0;
v[i] = nc2;
w = (rot[j][k] - rot[k][j]);
v[j] = -(rot[i][j] + rot[j][i]);
v[k] = -(rot[i][k] + rot[k][i]);
// We now have the correct result with the wrong magnitude, so normalize it:
float s = sqrt(x*x + y*y + z*z + w*w);
if (s > 0.00001f) {
s = 1.0f / s;
x *= s;
y *= s;
z *= s;
w *= s;
} else {
// The quaternion is nearly zero. Make it 0 0 0 1
x = 0.0f;
y = 0.0f;
z = 0.0f;
w = 1.0f;
}
}
void Quat::toAxisAngleRotation(
Vector3& axis,
double& angle) const {
// Decompose the quaternion into an angle and an axis.
axis = Vector3(x, y, z);
angle = 2 * acos(w);
float len = sqrt(1.0f - w * w);
if (fuzzyGt(abs(len), 0.0f)) {
axis /= len;
}
// Reduce the range of the angle.
if (angle < 0) {
angle = -angle;
axis = -axis;
}
while (angle > twoPi()) {
angle -= twoPi();
}
if (abs(angle) > pi()) {
angle -= twoPi();
}
// Make the angle positive.
if (angle < 0.0f) {
angle = -angle;
axis = -axis;
}
}
Matrix3 Quat::toRotationMatrix() const {
Matrix3 out = Matrix3::zero();
toRotationMatrix(out);
return out;
}
void Quat::toRotationMatrix(
Matrix3& rot) const {
rot = Matrix3(*this);
}
Quat Quat::slerp(
const Quat& _quat1,
float alpha,
float threshold) const {
// From: Game Physics -- David Eberly pg 538-540
// Modified to include lerp for small angles, which
// is a common practice.
// See also:
// http://number-none.com/product/Understanding%20Slerp,%20Then%20Not%20Using%20It/index.html
const Quat& quat0 = *this;
Quat quat1 = _quat1;
// angle between quaternion rotations
float phi;
float cosphi = quat0.dot(quat1);
if (cosphi < 0) {
// Change the sign and fix the dot product; we need to
// loop the other way to get the shortest path
quat1 = -quat1;
cosphi = -cosphi;
}
// Using G3D::aCos will clamp the angle to 0 and pi
phi = static_cast<float>(G3D::aCos(cosphi));
if (phi >= threshold) {
// For large angles, slerp
float scale0, scale1;
scale0 = sin((1.0f - alpha) * phi);
scale1 = sin(alpha * phi);
return ( (quat0 * scale0) + (quat1 * scale1) ) / sin(phi);
} else {
// For small angles, linear interpolate
return quat0.nlerp(quat1, alpha);
}
}
Quat Quat::nlerp(
const Quat& quat1,
float alpha) const {
Quat result = (*this) * (1.0f - alpha) + quat1 * alpha;
return result / result.magnitude();
}
Quat Quat::operator*(const Quat& other) const {
// Following Watt & Watt, page 360
const Vector3& v1 = imag();
const Vector3& v2 = other.imag();
float s1 = w;
float s2 = other.w;
return Quat(s1*v2 + s2*v1 + v1.cross(v2), s1*s2 - v1.dot(v2));
}
// From "Uniform Random Rotations", Ken Shoemake, Graphics Gems III.
Quat Quat::unitRandom() {
float x0 = uniformRandom();
float r1 = sqrtf(1 - x0),
r2 = sqrtf(x0);
float t1 = (float)G3D::twoPi() * uniformRandom();
float t2 = (float)G3D::twoPi() * uniformRandom();
float c1 = cosf(t1),
s1 = sinf(t1);
float c2 = cosf(t2),
s2 = sinf(t2);
return Quat(s1 * r1, c1 * r1, s2 * r2, c2 * r2);
}
void Quat::deserialize(class BinaryInput& b) {
x = b.readFloat32();
y = b.readFloat32();
z = b.readFloat32();
w = b.readFloat32();
}
void Quat::serialize(class BinaryOutput& b) const {
b.writeFloat32(x);
b.writeFloat32(y);
b.writeFloat32(z);
b.writeFloat32(w);
}
// 2-char swizzles
Vector2 Quat::xx() const { return Vector2 (x, x); }
Vector2 Quat::yx() const { return Vector2 (y, x); }
Vector2 Quat::zx() const { return Vector2 (z, x); }
Vector2 Quat::wx() const { return Vector2 (w, x); }
Vector2 Quat::xy() const { return Vector2 (x, y); }
Vector2 Quat::yy() const { return Vector2 (y, y); }
Vector2 Quat::zy() const { return Vector2 (z, y); }
Vector2 Quat::wy() const { return Vector2 (w, y); }
Vector2 Quat::xz() const { return Vector2 (x, z); }
Vector2 Quat::yz() const { return Vector2 (y, z); }
Vector2 Quat::zz() const { return Vector2 (z, z); }
Vector2 Quat::wz() const { return Vector2 (w, z); }
Vector2 Quat::xw() const { return Vector2 (x, w); }
Vector2 Quat::yw() const { return Vector2 (y, w); }
Vector2 Quat::zw() const { return Vector2 (z, w); }
Vector2 Quat::ww() const { return Vector2 (w, w); }
// 3-char swizzles
Vector3 Quat::xxx() const { return Vector3 (x, x, x); }
Vector3 Quat::yxx() const { return Vector3 (y, x, x); }
Vector3 Quat::zxx() const { return Vector3 (z, x, x); }
Vector3 Quat::wxx() const { return Vector3 (w, x, x); }
Vector3 Quat::xyx() const { return Vector3 (x, y, x); }
Vector3 Quat::yyx() const { return Vector3 (y, y, x); }
Vector3 Quat::zyx() const { return Vector3 (z, y, x); }
Vector3 Quat::wyx() const { return Vector3 (w, y, x); }
Vector3 Quat::xzx() const { return Vector3 (x, z, x); }
Vector3 Quat::yzx() const { return Vector3 (y, z, x); }
Vector3 Quat::zzx() const { return Vector3 (z, z, x); }
Vector3 Quat::wzx() const { return Vector3 (w, z, x); }
Vector3 Quat::xwx() const { return Vector3 (x, w, x); }
Vector3 Quat::ywx() const { return Vector3 (y, w, x); }
Vector3 Quat::zwx() const { return Vector3 (z, w, x); }
Vector3 Quat::wwx() const { return Vector3 (w, w, x); }
Vector3 Quat::xxy() const { return Vector3 (x, x, y); }
Vector3 Quat::yxy() const { return Vector3 (y, x, y); }
Vector3 Quat::zxy() const { return Vector3 (z, x, y); }
Vector3 Quat::wxy() const { return Vector3 (w, x, y); }
Vector3 Quat::xyy() const { return Vector3 (x, y, y); }
Vector3 Quat::yyy() const { return Vector3 (y, y, y); }
Vector3 Quat::zyy() const { return Vector3 (z, y, y); }
Vector3 Quat::wyy() const { return Vector3 (w, y, y); }
Vector3 Quat::xzy() const { return Vector3 (x, z, y); }
Vector3 Quat::yzy() const { return Vector3 (y, z, y); }
Vector3 Quat::zzy() const { return Vector3 (z, z, y); }
Vector3 Quat::wzy() const { return Vector3 (w, z, y); }
Vector3 Quat::xwy() const { return Vector3 (x, w, y); }
Vector3 Quat::ywy() const { return Vector3 (y, w, y); }
Vector3 Quat::zwy() const { return Vector3 (z, w, y); }
Vector3 Quat::wwy() const { return Vector3 (w, w, y); }
Vector3 Quat::xxz() const { return Vector3 (x, x, z); }
Vector3 Quat::yxz() const { return Vector3 (y, x, z); }
Vector3 Quat::zxz() const { return Vector3 (z, x, z); }
Vector3 Quat::wxz() const { return Vector3 (w, x, z); }
Vector3 Quat::xyz() const { return Vector3 (x, y, z); }
Vector3 Quat::yyz() const { return Vector3 (y, y, z); }
Vector3 Quat::zyz() const { return Vector3 (z, y, z); }
Vector3 Quat::wyz() const { return Vector3 (w, y, z); }
Vector3 Quat::xzz() const { return Vector3 (x, z, z); }
Vector3 Quat::yzz() const { return Vector3 (y, z, z); }
Vector3 Quat::zzz() const { return Vector3 (z, z, z); }
Vector3 Quat::wzz() const { return Vector3 (w, z, z); }
Vector3 Quat::xwz() const { return Vector3 (x, w, z); }
Vector3 Quat::ywz() const { return Vector3 (y, w, z); }
Vector3 Quat::zwz() const { return Vector3 (z, w, z); }
Vector3 Quat::wwz() const { return Vector3 (w, w, z); }
Vector3 Quat::xxw() const { return Vector3 (x, x, w); }
Vector3 Quat::yxw() const { return Vector3 (y, x, w); }
Vector3 Quat::zxw() const { return Vector3 (z, x, w); }
Vector3 Quat::wxw() const { return Vector3 (w, x, w); }
Vector3 Quat::xyw() const { return Vector3 (x, y, w); }
Vector3 Quat::yyw() const { return Vector3 (y, y, w); }
Vector3 Quat::zyw() const { return Vector3 (z, y, w); }
Vector3 Quat::wyw() const { return Vector3 (w, y, w); }
Vector3 Quat::xzw() const { return Vector3 (x, z, w); }
Vector3 Quat::yzw() const { return Vector3 (y, z, w); }
Vector3 Quat::zzw() const { return Vector3 (z, z, w); }
Vector3 Quat::wzw() const { return Vector3 (w, z, w); }
Vector3 Quat::xww() const { return Vector3 (x, w, w); }
Vector3 Quat::yww() const { return Vector3 (y, w, w); }
Vector3 Quat::zww() const { return Vector3 (z, w, w); }
Vector3 Quat::www() const { return Vector3 (w, w, w); }
// 4-char swizzles
Vector4 Quat::xxxx() const { return Vector4 (x, x, x, x); }
Vector4 Quat::yxxx() const { return Vector4 (y, x, x, x); }
Vector4 Quat::zxxx() const { return Vector4 (z, x, x, x); }
Vector4 Quat::wxxx() const { return Vector4 (w, x, x, x); }
Vector4 Quat::xyxx() const { return Vector4 (x, y, x, x); }
Vector4 Quat::yyxx() const { return Vector4 (y, y, x, x); }
Vector4 Quat::zyxx() const { return Vector4 (z, y, x, x); }
Vector4 Quat::wyxx() const { return Vector4 (w, y, x, x); }
Vector4 Quat::xzxx() const { return Vector4 (x, z, x, x); }
Vector4 Quat::yzxx() const { return Vector4 (y, z, x, x); }
Vector4 Quat::zzxx() const { return Vector4 (z, z, x, x); }
Vector4 Quat::wzxx() const { return Vector4 (w, z, x, x); }
Vector4 Quat::xwxx() const { return Vector4 (x, w, x, x); }
Vector4 Quat::ywxx() const { return Vector4 (y, w, x, x); }
Vector4 Quat::zwxx() const { return Vector4 (z, w, x, x); }
Vector4 Quat::wwxx() const { return Vector4 (w, w, x, x); }
Vector4 Quat::xxyx() const { return Vector4 (x, x, y, x); }
Vector4 Quat::yxyx() const { return Vector4 (y, x, y, x); }
Vector4 Quat::zxyx() const { return Vector4 (z, x, y, x); }
Vector4 Quat::wxyx() const { return Vector4 (w, x, y, x); }
Vector4 Quat::xyyx() const { return Vector4 (x, y, y, x); }
Vector4 Quat::yyyx() const { return Vector4 (y, y, y, x); }
Vector4 Quat::zyyx() const { return Vector4 (z, y, y, x); }
Vector4 Quat::wyyx() const { return Vector4 (w, y, y, x); }
Vector4 Quat::xzyx() const { return Vector4 (x, z, y, x); }
Vector4 Quat::yzyx() const { return Vector4 (y, z, y, x); }
Vector4 Quat::zzyx() const { return Vector4 (z, z, y, x); }
Vector4 Quat::wzyx() const { return Vector4 (w, z, y, x); }
Vector4 Quat::xwyx() const { return Vector4 (x, w, y, x); }
Vector4 Quat::ywyx() const { return Vector4 (y, w, y, x); }
Vector4 Quat::zwyx() const { return Vector4 (z, w, y, x); }
Vector4 Quat::wwyx() const { return Vector4 (w, w, y, x); }
Vector4 Quat::xxzx() const { return Vector4 (x, x, z, x); }
Vector4 Quat::yxzx() const { return Vector4 (y, x, z, x); }
Vector4 Quat::zxzx() const { return Vector4 (z, x, z, x); }
Vector4 Quat::wxzx() const { return Vector4 (w, x, z, x); }
Vector4 Quat::xyzx() const { return Vector4 (x, y, z, x); }
Vector4 Quat::yyzx() const { return Vector4 (y, y, z, x); }
Vector4 Quat::zyzx() const { return Vector4 (z, y, z, x); }
Vector4 Quat::wyzx() const { return Vector4 (w, y, z, x); }
Vector4 Quat::xzzx() const { return Vector4 (x, z, z, x); }
Vector4 Quat::yzzx() const { return Vector4 (y, z, z, x); }
Vector4 Quat::zzzx() const { return Vector4 (z, z, z, x); }
Vector4 Quat::wzzx() const { return Vector4 (w, z, z, x); }
Vector4 Quat::xwzx() const { return Vector4 (x, w, z, x); }
Vector4 Quat::ywzx() const { return Vector4 (y, w, z, x); }
Vector4 Quat::zwzx() const { return Vector4 (z, w, z, x); }
Vector4 Quat::wwzx() const { return Vector4 (w, w, z, x); }
Vector4 Quat::xxwx() const { return Vector4 (x, x, w, x); }
Vector4 Quat::yxwx() const { return Vector4 (y, x, w, x); }
Vector4 Quat::zxwx() const { return Vector4 (z, x, w, x); }
Vector4 Quat::wxwx() const { return Vector4 (w, x, w, x); }
Vector4 Quat::xywx() const { return Vector4 (x, y, w, x); }
Vector4 Quat::yywx() const { return Vector4 (y, y, w, x); }
Vector4 Quat::zywx() const { return Vector4 (z, y, w, x); }
Vector4 Quat::wywx() const { return Vector4 (w, y, w, x); }
Vector4 Quat::xzwx() const { return Vector4 (x, z, w, x); }
Vector4 Quat::yzwx() const { return Vector4 (y, z, w, x); }
Vector4 Quat::zzwx() const { return Vector4 (z, z, w, x); }
Vector4 Quat::wzwx() const { return Vector4 (w, z, w, x); }
Vector4 Quat::xwwx() const { return Vector4 (x, w, w, x); }
Vector4 Quat::ywwx() const { return Vector4 (y, w, w, x); }
Vector4 Quat::zwwx() const { return Vector4 (z, w, w, x); }
Vector4 Quat::wwwx() const { return Vector4 (w, w, w, x); }
Vector4 Quat::xxxy() const { return Vector4 (x, x, x, y); }
Vector4 Quat::yxxy() const { return Vector4 (y, x, x, y); }
Vector4 Quat::zxxy() const { return Vector4 (z, x, x, y); }
Vector4 Quat::wxxy() const { return Vector4 (w, x, x, y); }
Vector4 Quat::xyxy() const { return Vector4 (x, y, x, y); }
Vector4 Quat::yyxy() const { return Vector4 (y, y, x, y); }
Vector4 Quat::zyxy() const { return Vector4 (z, y, x, y); }
Vector4 Quat::wyxy() const { return Vector4 (w, y, x, y); }
Vector4 Quat::xzxy() const { return Vector4 (x, z, x, y); }
Vector4 Quat::yzxy() const { return Vector4 (y, z, x, y); }
Vector4 Quat::zzxy() const { return Vector4 (z, z, x, y); }
Vector4 Quat::wzxy() const { return Vector4 (w, z, x, y); }
Vector4 Quat::xwxy() const { return Vector4 (x, w, x, y); }
Vector4 Quat::ywxy() const { return Vector4 (y, w, x, y); }
Vector4 Quat::zwxy() const { return Vector4 (z, w, x, y); }
Vector4 Quat::wwxy() const { return Vector4 (w, w, x, y); }
Vector4 Quat::xxyy() const { return Vector4 (x, x, y, y); }
Vector4 Quat::yxyy() const { return Vector4 (y, x, y, y); }
Vector4 Quat::zxyy() const { return Vector4 (z, x, y, y); }
Vector4 Quat::wxyy() const { return Vector4 (w, x, y, y); }
Vector4 Quat::xyyy() const { return Vector4 (x, y, y, y); }
Vector4 Quat::yyyy() const { return Vector4 (y, y, y, y); }
Vector4 Quat::zyyy() const { return Vector4 (z, y, y, y); }
Vector4 Quat::wyyy() const { return Vector4 (w, y, y, y); }
Vector4 Quat::xzyy() const { return Vector4 (x, z, y, y); }
Vector4 Quat::yzyy() const { return Vector4 (y, z, y, y); }
Vector4 Quat::zzyy() const { return Vector4 (z, z, y, y); }
Vector4 Quat::wzyy() const { return Vector4 (w, z, y, y); }
Vector4 Quat::xwyy() const { return Vector4 (x, w, y, y); }
Vector4 Quat::ywyy() const { return Vector4 (y, w, y, y); }
Vector4 Quat::zwyy() const { return Vector4 (z, w, y, y); }
Vector4 Quat::wwyy() const { return Vector4 (w, w, y, y); }
Vector4 Quat::xxzy() const { return Vector4 (x, x, z, y); }
Vector4 Quat::yxzy() const { return Vector4 (y, x, z, y); }
Vector4 Quat::zxzy() const { return Vector4 (z, x, z, y); }
Vector4 Quat::wxzy() const { return Vector4 (w, x, z, y); }
Vector4 Quat::xyzy() const { return Vector4 (x, y, z, y); }
Vector4 Quat::yyzy() const { return Vector4 (y, y, z, y); }
Vector4 Quat::zyzy() const { return Vector4 (z, y, z, y); }
Vector4 Quat::wyzy() const { return Vector4 (w, y, z, y); }
Vector4 Quat::xzzy() const { return Vector4 (x, z, z, y); }
Vector4 Quat::yzzy() const { return Vector4 (y, z, z, y); }
Vector4 Quat::zzzy() const { return Vector4 (z, z, z, y); }
Vector4 Quat::wzzy() const { return Vector4 (w, z, z, y); }
Vector4 Quat::xwzy() const { return Vector4 (x, w, z, y); }
Vector4 Quat::ywzy() const { return Vector4 (y, w, z, y); }
Vector4 Quat::zwzy() const { return Vector4 (z, w, z, y); }
Vector4 Quat::wwzy() const { return Vector4 (w, w, z, y); }
Vector4 Quat::xxwy() const { return Vector4 (x, x, w, y); }
Vector4 Quat::yxwy() const { return Vector4 (y, x, w, y); }
Vector4 Quat::zxwy() const { return Vector4 (z, x, w, y); }
Vector4 Quat::wxwy() const { return Vector4 (w, x, w, y); }
Vector4 Quat::xywy() const { return Vector4 (x, y, w, y); }
Vector4 Quat::yywy() const { return Vector4 (y, y, w, y); }
Vector4 Quat::zywy() const { return Vector4 (z, y, w, y); }
Vector4 Quat::wywy() const { return Vector4 (w, y, w, y); }
Vector4 Quat::xzwy() const { return Vector4 (x, z, w, y); }
Vector4 Quat::yzwy() const { return Vector4 (y, z, w, y); }
Vector4 Quat::zzwy() const { return Vector4 (z, z, w, y); }
Vector4 Quat::wzwy() const { return Vector4 (w, z, w, y); }
Vector4 Quat::xwwy() const { return Vector4 (x, w, w, y); }
Vector4 Quat::ywwy() const { return Vector4 (y, w, w, y); }
Vector4 Quat::zwwy() const { return Vector4 (z, w, w, y); }
Vector4 Quat::wwwy() const { return Vector4 (w, w, w, y); }
Vector4 Quat::xxxz() const { return Vector4 (x, x, x, z); }
Vector4 Quat::yxxz() const { return Vector4 (y, x, x, z); }
Vector4 Quat::zxxz() const { return Vector4 (z, x, x, z); }
Vector4 Quat::wxxz() const { return Vector4 (w, x, x, z); }
Vector4 Quat::xyxz() const { return Vector4 (x, y, x, z); }
Vector4 Quat::yyxz() const { return Vector4 (y, y, x, z); }
Vector4 Quat::zyxz() const { return Vector4 (z, y, x, z); }
Vector4 Quat::wyxz() const { return Vector4 (w, y, x, z); }
Vector4 Quat::xzxz() const { return Vector4 (x, z, x, z); }
Vector4 Quat::yzxz() const { return Vector4 (y, z, x, z); }
Vector4 Quat::zzxz() const { return Vector4 (z, z, x, z); }
Vector4 Quat::wzxz() const { return Vector4 (w, z, x, z); }
Vector4 Quat::xwxz() const { return Vector4 (x, w, x, z); }
Vector4 Quat::ywxz() const { return Vector4 (y, w, x, z); }
Vector4 Quat::zwxz() const { return Vector4 (z, w, x, z); }
Vector4 Quat::wwxz() const { return Vector4 (w, w, x, z); }
Vector4 Quat::xxyz() const { return Vector4 (x, x, y, z); }
Vector4 Quat::yxyz() const { return Vector4 (y, x, y, z); }
Vector4 Quat::zxyz() const { return Vector4 (z, x, y, z); }
Vector4 Quat::wxyz() const { return Vector4 (w, x, y, z); }
Vector4 Quat::xyyz() const { return Vector4 (x, y, y, z); }
Vector4 Quat::yyyz() const { return Vector4 (y, y, y, z); }
Vector4 Quat::zyyz() const { return Vector4 (z, y, y, z); }
Vector4 Quat::wyyz() const { return Vector4 (w, y, y, z); }
Vector4 Quat::xzyz() const { return Vector4 (x, z, y, z); }
Vector4 Quat::yzyz() const { return Vector4 (y, z, y, z); }
Vector4 Quat::zzyz() const { return Vector4 (z, z, y, z); }
Vector4 Quat::wzyz() const { return Vector4 (w, z, y, z); }
Vector4 Quat::xwyz() const { return Vector4 (x, w, y, z); }
Vector4 Quat::ywyz() const { return Vector4 (y, w, y, z); }
Vector4 Quat::zwyz() const { return Vector4 (z, w, y, z); }
Vector4 Quat::wwyz() const { return Vector4 (w, w, y, z); }
Vector4 Quat::xxzz() const { return Vector4 (x, x, z, z); }
Vector4 Quat::yxzz() const { return Vector4 (y, x, z, z); }
Vector4 Quat::zxzz() const { return Vector4 (z, x, z, z); }
Vector4 Quat::wxzz() const { return Vector4 (w, x, z, z); }
Vector4 Quat::xyzz() const { return Vector4 (x, y, z, z); }
Vector4 Quat::yyzz() const { return Vector4 (y, y, z, z); }
Vector4 Quat::zyzz() const { return Vector4 (z, y, z, z); }
Vector4 Quat::wyzz() const { return Vector4 (w, y, z, z); }
Vector4 Quat::xzzz() const { return Vector4 (x, z, z, z); }
Vector4 Quat::yzzz() const { return Vector4 (y, z, z, z); }
Vector4 Quat::zzzz() const { return Vector4 (z, z, z, z); }
Vector4 Quat::wzzz() const { return Vector4 (w, z, z, z); }
Vector4 Quat::xwzz() const { return Vector4 (x, w, z, z); }
Vector4 Quat::ywzz() const { return Vector4 (y, w, z, z); }
Vector4 Quat::zwzz() const { return Vector4 (z, w, z, z); }
Vector4 Quat::wwzz() const { return Vector4 (w, w, z, z); }
Vector4 Quat::xxwz() const { return Vector4 (x, x, w, z); }
Vector4 Quat::yxwz() const { return Vector4 (y, x, w, z); }
Vector4 Quat::zxwz() const { return Vector4 (z, x, w, z); }
Vector4 Quat::wxwz() const { return Vector4 (w, x, w, z); }
Vector4 Quat::xywz() const { return Vector4 (x, y, w, z); }
Vector4 Quat::yywz() const { return Vector4 (y, y, w, z); }
Vector4 Quat::zywz() const { return Vector4 (z, y, w, z); }
Vector4 Quat::wywz() const { return Vector4 (w, y, w, z); }
Vector4 Quat::xzwz() const { return Vector4 (x, z, w, z); }
Vector4 Quat::yzwz() const { return Vector4 (y, z, w, z); }
Vector4 Quat::zzwz() const { return Vector4 (z, z, w, z); }
Vector4 Quat::wzwz() const { return Vector4 (w, z, w, z); }
Vector4 Quat::xwwz() const { return Vector4 (x, w, w, z); }
Vector4 Quat::ywwz() const { return Vector4 (y, w, w, z); }
Vector4 Quat::zwwz() const { return Vector4 (z, w, w, z); }
Vector4 Quat::wwwz() const { return Vector4 (w, w, w, z); }
Vector4 Quat::xxxw() const { return Vector4 (x, x, x, w); }
Vector4 Quat::yxxw() const { return Vector4 (y, x, x, w); }
Vector4 Quat::zxxw() const { return Vector4 (z, x, x, w); }
Vector4 Quat::wxxw() const { return Vector4 (w, x, x, w); }
Vector4 Quat::xyxw() const { return Vector4 (x, y, x, w); }
Vector4 Quat::yyxw() const { return Vector4 (y, y, x, w); }
Vector4 Quat::zyxw() const { return Vector4 (z, y, x, w); }
Vector4 Quat::wyxw() const { return Vector4 (w, y, x, w); }
Vector4 Quat::xzxw() const { return Vector4 (x, z, x, w); }
Vector4 Quat::yzxw() const { return Vector4 (y, z, x, w); }
Vector4 Quat::zzxw() const { return Vector4 (z, z, x, w); }
Vector4 Quat::wzxw() const { return Vector4 (w, z, x, w); }
Vector4 Quat::xwxw() const { return Vector4 (x, w, x, w); }
Vector4 Quat::ywxw() const { return Vector4 (y, w, x, w); }
Vector4 Quat::zwxw() const { return Vector4 (z, w, x, w); }
Vector4 Quat::wwxw() const { return Vector4 (w, w, x, w); }
Vector4 Quat::xxyw() const { return Vector4 (x, x, y, w); }
Vector4 Quat::yxyw() const { return Vector4 (y, x, y, w); }
Vector4 Quat::zxyw() const { return Vector4 (z, x, y, w); }
Vector4 Quat::wxyw() const { return Vector4 (w, x, y, w); }
Vector4 Quat::xyyw() const { return Vector4 (x, y, y, w); }
Vector4 Quat::yyyw() const { return Vector4 (y, y, y, w); }
Vector4 Quat::zyyw() const { return Vector4 (z, y, y, w); }
Vector4 Quat::wyyw() const { return Vector4 (w, y, y, w); }
Vector4 Quat::xzyw() const { return Vector4 (x, z, y, w); }
Vector4 Quat::yzyw() const { return Vector4 (y, z, y, w); }
Vector4 Quat::zzyw() const { return Vector4 (z, z, y, w); }
Vector4 Quat::wzyw() const { return Vector4 (w, z, y, w); }
Vector4 Quat::xwyw() const { return Vector4 (x, w, y, w); }
Vector4 Quat::ywyw() const { return Vector4 (y, w, y, w); }
Vector4 Quat::zwyw() const { return Vector4 (z, w, y, w); }
Vector4 Quat::wwyw() const { return Vector4 (w, w, y, w); }
Vector4 Quat::xxzw() const { return Vector4 (x, x, z, w); }
Vector4 Quat::yxzw() const { return Vector4 (y, x, z, w); }
Vector4 Quat::zxzw() const { return Vector4 (z, x, z, w); }
Vector4 Quat::wxzw() const { return Vector4 (w, x, z, w); }
Vector4 Quat::xyzw() const { return Vector4 (x, y, z, w); }
Vector4 Quat::yyzw() const { return Vector4 (y, y, z, w); }
Vector4 Quat::zyzw() const { return Vector4 (z, y, z, w); }
Vector4 Quat::wyzw() const { return Vector4 (w, y, z, w); }
Vector4 Quat::xzzw() const { return Vector4 (x, z, z, w); }
Vector4 Quat::yzzw() const { return Vector4 (y, z, z, w); }
Vector4 Quat::zzzw() const { return Vector4 (z, z, z, w); }
Vector4 Quat::wzzw() const { return Vector4 (w, z, z, w); }
Vector4 Quat::xwzw() const { return Vector4 (x, w, z, w); }
Vector4 Quat::ywzw() const { return Vector4 (y, w, z, w); }
Vector4 Quat::zwzw() const { return Vector4 (z, w, z, w); }
Vector4 Quat::wwzw() const { return Vector4 (w, w, z, w); }
Vector4 Quat::xxww() const { return Vector4 (x, x, w, w); }
Vector4 Quat::yxww() const { return Vector4 (y, x, w, w); }
Vector4 Quat::zxww() const { return Vector4 (z, x, w, w); }
Vector4 Quat::wxww() const { return Vector4 (w, x, w, w); }
Vector4 Quat::xyww() const { return Vector4 (x, y, w, w); }
Vector4 Quat::yyww() const { return Vector4 (y, y, w, w); }
Vector4 Quat::zyww() const { return Vector4 (z, y, w, w); }
Vector4 Quat::wyww() const { return Vector4 (w, y, w, w); }
Vector4 Quat::xzww() const { return Vector4 (x, z, w, w); }
Vector4 Quat::yzww() const { return Vector4 (y, z, w, w); }
Vector4 Quat::zzww() const { return Vector4 (z, z, w, w); }
Vector4 Quat::wzww() const { return Vector4 (w, z, w, w); }
Vector4 Quat::xwww() const { return Vector4 (x, w, w, w); }
Vector4 Quat::ywww() const { return Vector4 (y, w, w, w); }
Vector4 Quat::zwww() const { return Vector4 (z, w, w, w); }
Vector4 Quat::wwww() const { return Vector4 (w, w, w, w); }
}
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