rfreeimage 0.1.0

data/vendor/FreeImage/Source/OpenEXR/Imath/ImathQuat.h

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+///////////////////////////////////////////////////////////////////////////
+//
+// Copyright (c) 2002-2012, Industrial Light & Magic, a division of Lucas
+// Digital Ltd. LLC
+// 
+// All rights reserved.
+// 
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are
+// met:
+// *       Redistributions of source code must retain the above copyright
+// notice, this list of conditions and the following disclaimer.
+// *       Redistributions in binary form must reproduce the above
+// copyright notice, this list of conditions and the following disclaimer
+// in the documentation and/or other materials provided with the
+// distribution.
+// *       Neither the name of Industrial Light & Magic nor the names of
+// its contributors may be used to endorse or promote products derived
+// from this software without specific prior written permission. 
+// 
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+// OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+//
+///////////////////////////////////////////////////////////////////////////
+
+
+
+#ifndef INCLUDED_IMATHQUAT_H
+#define INCLUDED_IMATHQUAT_H
+
+//----------------------------------------------------------------------
+//
+//	template class Quat<T>
+//
+//	"Quaternions came from Hamilton ... and have been an unmixed
+//	evil to those who have touched them in any way. Vector is a
+//	useless survival ... and has never been of the slightest use
+//	to any creature."
+//
+//	    - Lord Kelvin
+//
+//	This class implements the quaternion numerical type -- you
+//      will probably want to use this class to represent orientations
+//	in R3 and to convert between various euler angle reps. You
+//	should probably use Imath::Euler<> for that.
+//
+//----------------------------------------------------------------------
+
+#include "ImathExc.h"
+#include "ImathMatrix.h"
+#include "ImathNamespace.h"
+
+#include <iostream>
+
+IMATH_INTERNAL_NAMESPACE_HEADER_ENTER
+
+#if (defined _WIN32 || defined _WIN64) && defined _MSC_VER
+// Disable MS VC++ warnings about conversion from double to float
+#pragma warning(disable:4244)
+#endif
+
+template <class T>
+class Quat
+{
+  public:
+
+    T			r;	    // real part
+    Vec3<T>		v;	    // imaginary vector
+
+
+    //-----------------------------------------------------
+    //	Constructors - default constructor is identity quat
+    //-----------------------------------------------------
+
+    Quat ();
+
+    template <class S>
+    Quat (const Quat<S> &q);
+
+    Quat (T s, T i, T j, T k);
+
+    Quat (T s, Vec3<T> d);
+
+    static Quat<T> identity ();
+
+
+    //-------------------------------------------------
+    //	Basic Algebra - Operators and Methods
+    //  The operator return values are *NOT* normalized
+    //
+    //  operator^ and euclideanInnnerProduct() both
+    //            implement the 4D dot product
+    //
+    //  operator/ uses the inverse() quaternion
+    //
+    //	operator~ is conjugate -- if (S+V) is quat then
+    //		  the conjugate (S+V)* == (S-V)
+    //
+    //  some operators (*,/,*=,/=) treat the quat as
+    //	a 4D vector when one of the operands is scalar
+    //-------------------------------------------------
+
+    const Quat<T> &	operator =	(const Quat<T> &q);
+    const Quat<T> &	operator *=	(const Quat<T> &q);
+    const Quat<T> &	operator *=	(T t);
+    const Quat<T> &	operator /=	(const Quat<T> &q);
+    const Quat<T> &	operator /=	(T t);
+    const Quat<T> &	operator +=	(const Quat<T> &q);
+    const Quat<T> &	operator -=	(const Quat<T> &q);
+    T &			operator []	(int index);	// as 4D vector
+    T			operator []	(int index) const;
+
+    template <class S> bool operator == (const Quat<S> &q) const;
+    template <class S> bool operator != (const Quat<S> &q) const;
+
+    Quat<T> &		invert ();		// this -> 1 / this
+    Quat<T>		inverse () const;
+    Quat<T> &		normalize ();		// returns this
+    Quat<T>		normalized () const;
+    T			length () const;	// in R4
+    Vec3<T>             rotateVector(const Vec3<T> &original) const;
+    T                   euclideanInnerProduct(const Quat<T> &q) const;
+
+    //-----------------------
+    //	Rotation conversion
+    //-----------------------
+
+    Quat<T> &		setAxisAngle (const Vec3<T> &axis, T radians);
+
+    Quat<T> &		setRotation (const Vec3<T> &fromDirection,
+				     const Vec3<T> &toDirection);
+
+    T			angle () const;
+    Vec3<T>		axis () const;
+
+    Matrix33<T>		toMatrix33 () const;
+    Matrix44<T>		toMatrix44 () const;
+
+    Quat<T>		log () const;
+    Quat<T>		exp () const;
+
+
+  private:
+
+    void		setRotationInternal (const Vec3<T> &f0,
+					     const Vec3<T> &t0,
+					     Quat<T> &q);
+};
+
+
+template<class T>
+Quat<T>			slerp (const Quat<T> &q1, const Quat<T> &q2, T t);
+
+template<class T>
+Quat<T>			slerpShortestArc
+                              (const Quat<T> &q1, const Quat<T> &q2, T t);
+
+
+template<class T>
+Quat<T>			squad (const Quat<T> &q1, const Quat<T> &q2, 
+			       const Quat<T> &qa, const Quat<T> &qb, T t);
+
+template<class T>
+void			intermediate (const Quat<T> &q0, const Quat<T> &q1, 
+				      const Quat<T> &q2, const Quat<T> &q3,
+				      Quat<T> &qa, Quat<T> &qb);
+
+template<class T>
+Matrix33<T>		operator * (const Matrix33<T> &M, const Quat<T> &q);
+
+template<class T>
+Matrix33<T>		operator * (const Quat<T> &q, const Matrix33<T> &M);
+
+template<class T>
+std::ostream &		operator << (std::ostream &o, const Quat<T> &q);
+
+template<class T>
+Quat<T>			operator * (const Quat<T> &q1, const Quat<T> &q2);
+
+template<class T>
+Quat<T>			operator / (const Quat<T> &q1, const Quat<T> &q2);
+
+template<class T>
+Quat<T>			operator / (const Quat<T> &q, T t);
+
+template<class T>
+Quat<T>			operator * (const Quat<T> &q, T t);
+
+template<class T>
+Quat<T>			operator * (T t, const Quat<T> &q);
+
+template<class T>
+Quat<T>			operator + (const Quat<T> &q1, const Quat<T> &q2);
+
+template<class T>
+Quat<T>			operator - (const Quat<T> &q1, const Quat<T> &q2);
+
+template<class T>
+Quat<T>			operator ~ (const Quat<T> &q);
+
+template<class T>
+Quat<T>			operator - (const Quat<T> &q);
+
+template<class T>
+Vec3<T>			operator * (const Vec3<T> &v, const Quat<T> &q);
+
+
+//--------------------
+// Convenient typedefs
+//--------------------
+
+typedef Quat<float>	Quatf;
+typedef Quat<double>	Quatd;
+
+
+//---------------
+// Implementation
+//---------------
+
+template<class T>
+inline
+Quat<T>::Quat (): r (1), v (0, 0, 0)
+{
+    // empty
+}
+
+
+template<class T>
+template <class S>
+inline
+Quat<T>::Quat (const Quat<S> &q): r (q.r), v (q.v)
+{
+    // empty
+}
+
+
+template<class T>
+inline
+Quat<T>::Quat (T s, T i, T j, T k): r (s), v (i, j, k)
+{
+    // empty
+}
+
+
+template<class T>
+inline
+Quat<T>::Quat (T s, Vec3<T> d): r (s), v (d)
+{
+    // empty
+}
+
+
+template<class T>
+inline Quat<T>
+Quat<T>::identity ()
+{
+    return Quat<T>();
+}
+
+template<class T>
+inline const Quat<T> &
+Quat<T>::operator = (const Quat<T> &q)
+{
+    r = q.r;
+    v = q.v;
+    return *this;
+}
+
+
+template<class T>
+inline const Quat<T> &
+Quat<T>::operator *= (const Quat<T> &q)
+{
+    T rtmp = r * q.r - (v ^ q.v);
+    v = r * q.v + v * q.r + v % q.v;
+    r = rtmp;
+    return *this;
+}
+
+
+template<class T>
+inline const Quat<T> &
+Quat<T>::operator *= (T t)
+{
+    r *= t;
+    v *= t;
+    return *this;
+}
+
+
+template<class T>
+inline const Quat<T> &
+Quat<T>::operator /= (const Quat<T> &q)
+{
+    *this = *this * q.inverse();
+    return *this;
+}
+
+
+template<class T>
+inline const Quat<T> &
+Quat<T>::operator /= (T t)
+{
+    r /= t;
+    v /= t;
+    return *this;
+}
+
+
+template<class T>
+inline const Quat<T> &
+Quat<T>::operator += (const Quat<T> &q)
+{
+    r += q.r;
+    v += q.v;
+    return *this;
+}
+
+
+template<class T>
+inline const Quat<T> &
+Quat<T>::operator -= (const Quat<T> &q)
+{
+    r -= q.r;
+    v -= q.v;
+    return *this;
+}
+
+
+template<class T>
+inline T &
+Quat<T>::operator [] (int index)
+{
+    return index ? v[index - 1] : r;
+}
+
+
+template<class T>
+inline T
+Quat<T>::operator [] (int index) const
+{
+    return index ? v[index - 1] : r;
+}
+
+
+template <class T>
+template <class S>
+inline bool
+Quat<T>::operator == (const Quat<S> &q) const
+{
+    return r == q.r && v == q.v;
+}
+
+
+template <class T>
+template <class S>
+inline bool
+Quat<T>::operator != (const Quat<S> &q) const
+{
+    return r != q.r || v != q.v;
+}
+
+
+template<class T>
+inline T
+operator ^ (const Quat<T>& q1 ,const Quat<T>& q2)
+{
+    return q1.r * q2.r + (q1.v ^ q2.v);
+}
+
+
+template <class T>
+inline T
+Quat<T>::length () const
+{
+    return Math<T>::sqrt (r * r + (v ^ v));
+}
+
+
+template <class T>
+inline Quat<T> &
+Quat<T>::normalize ()
+{
+    if (T l = length())
+    {
+	r /= l;
+	v /= l;
+    }
+    else
+    {
+	r = 1;
+	v = Vec3<T> (0);
+    }
+
+    return *this;
+}
+
+
+template <class T>
+inline Quat<T>
+Quat<T>::normalized () const
+{
+    if (T l = length())
+	return Quat (r / l, v / l);
+
+    return Quat();
+}
+
+
+template<class T>
+inline Quat<T>
+Quat<T>::inverse () const
+{
+    //
+    // 1    Q*
+    // - = ----   where Q* is conjugate (operator~)
+    // Q   Q* Q   and (Q* Q) == Q ^ Q (4D dot)
+    //
+
+    T qdot = *this ^ *this;
+    return Quat (r / qdot, -v / qdot);
+}
+
+
+template<class T>
+inline Quat<T> &
+Quat<T>::invert ()
+{
+    T qdot = (*this) ^ (*this);
+    r /= qdot;
+    v = -v / qdot;
+    return *this;
+}
+
+
+template<class T>
+inline Vec3<T>
+Quat<T>::rotateVector(const Vec3<T>& original) const
+{
+    //
+    // Given a vector p and a quaternion q (aka this),
+    // calculate p' = qpq*
+    //
+    // Assumes unit quaternions (because non-unit
+    // quaternions cannot be used to rotate vectors
+    // anyway).
+    //
+
+    Quat<T> vec (0, original);  // temporarily promote grade of original
+    Quat<T> inv (*this);
+    inv.v *= -1;                // unit multiplicative inverse
+    Quat<T> result = *this * vec * inv;
+    return result.v;
+}
+
+
+template<class T>
+inline T 
+Quat<T>::euclideanInnerProduct (const Quat<T> &q) const
+{
+    return r * q.r + v.x * q.v.x + v.y * q.v.y + v.z * q.v.z;
+}
+
+
+template<class T>
+T
+angle4D (const Quat<T> &q1, const Quat<T> &q2)
+{
+    //
+    // Compute the angle between two quaternions,
+    // interpreting the quaternions as 4D vectors.
+    //
+
+    Quat<T> d = q1 - q2;
+    T lengthD = Math<T>::sqrt (d ^ d);
+
+    Quat<T> s = q1 + q2;
+    T lengthS = Math<T>::sqrt (s ^ s);
+
+    return 2 * Math<T>::atan2 (lengthD, lengthS);
+}
+
+
+template<class T>
+Quat<T>
+slerp (const Quat<T> &q1, const Quat<T> &q2, T t)
+{
+    //
+    // Spherical linear interpolation.
+    // Assumes q1 and q2 are normalized and that q1 != -q2.
+    //
+    // This method does *not* interpolate along the shortest
+    // arc between q1 and q2.  If you desire interpolation
+    // along the shortest arc, and q1^q2 is negative, then
+    // consider calling slerpShortestArc(), below, or flipping
+    // the second quaternion explicitly.
+    //
+    // The implementation of squad() depends on a slerp()
+    // that interpolates as is, without the automatic
+    // flipping.
+    //
+    // Don Hatch explains the method we use here on his
+    // web page, The Right Way to Calculate Stuff, at
+    // http://www.plunk.org/~hatch/rightway.php
+    //
+
+    T a = angle4D (q1, q2);
+    T s = 1 - t;
+
+    Quat<T> q = sinx_over_x (s * a) / sinx_over_x (a) * s * q1 +
+	        sinx_over_x (t * a) / sinx_over_x (a) * t * q2;
+
+    return q.normalized();
+}
+
+
+template<class T>
+Quat<T>
+slerpShortestArc (const Quat<T> &q1, const Quat<T> &q2, T t)
+{
+    //
+    // Spherical linear interpolation along the shortest
+    // arc from q1 to either q2 or -q2, whichever is closer.
+    // Assumes q1 and q2 are unit quaternions.
+    //
+
+    if ((q1 ^ q2) >= 0)
+        return slerp (q1, q2, t);
+    else
+        return slerp (q1, -q2, t);
+}
+
+
+template<class T>
+Quat<T>
+spline (const Quat<T> &q0, const Quat<T> &q1,
+        const Quat<T> &q2, const Quat<T> &q3,
+	T t)
+{
+    //
+    // Spherical Cubic Spline Interpolation -
+    // from Advanced Animation and Rendering
+    // Techniques by Watt and Watt, Page 366:
+    // A spherical curve is constructed using three
+    // spherical linear interpolations of a quadrangle
+    // of unit quaternions: q1, qa, qb, q2.
+    // Given a set of quaternion keys: q0, q1, q2, q3,
+    // this routine does the interpolation between
+    // q1 and q2 by constructing two intermediate
+    // quaternions: qa and qb. The qa and qb are 
+    // computed by the intermediate function to 
+    // guarantee the continuity of tangents across
+    // adjacent cubic segments. The qa represents in-tangent
+    // for q1 and the qb represents the out-tangent for q2.
+    // 
+    // The q1 q2 is the cubic segment being interpolated. 
+    // The q0 is from the previous adjacent segment and q3 is 
+    // from the next adjacent segment. The q0 and q3 are used
+    // in computing qa and qb.
+    // 
+
+    Quat<T> qa = intermediate (q0, q1, q2);
+    Quat<T> qb = intermediate (q1, q2, q3);
+    Quat<T> result = squad (q1, qa, qb, q2, t);
+
+    return result;
+}
+
+
+template<class T>
+Quat<T>
+squad (const Quat<T> &q1, const Quat<T> &qa,
+       const Quat<T> &qb, const Quat<T> &q2,
+       T t)
+{
+    //
+    // Spherical Quadrangle Interpolation -
+    // from Advanced Animation and Rendering
+    // Techniques by Watt and Watt, Page 366:
+    // It constructs a spherical cubic interpolation as 
+    // a series of three spherical linear interpolations 
+    // of a quadrangle of unit quaternions. 
+    //     
+  
+    Quat<T> r1 = slerp (q1, q2, t);
+    Quat<T> r2 = slerp (qa, qb, t);
+    Quat<T> result = slerp (r1, r2, 2 * t * (1 - t));
+
+    return result;
+}
+
+
+template<class T>
+Quat<T>
+intermediate (const Quat<T> &q0, const Quat<T> &q1, const Quat<T> &q2)
+{
+    //
+    // From advanced Animation and Rendering
+    // Techniques by Watt and Watt, Page 366:
+    // computing the inner quadrangle 
+    // points (qa and qb) to guarantee tangent
+    // continuity.
+    // 
+
+    Quat<T> q1inv = q1.inverse();
+    Quat<T> c1 = q1inv * q2;
+    Quat<T> c2 = q1inv * q0;
+    Quat<T> c3 = (T) (-0.25) * (c2.log() + c1.log());
+    Quat<T> qa = q1 * c3.exp();
+    qa.normalize();
+    return qa;
+}
+
+
+template <class T>
+inline Quat<T>
+Quat<T>::log () const
+{
+    //
+    // For unit quaternion, from Advanced Animation and 
+    // Rendering Techniques by Watt and Watt, Page 366:
+    //
+
+    T theta = Math<T>::acos (std::min (r, (T) 1.0));
+
+    if (theta == 0)
+	return Quat<T> (0, v);
+    
+    T sintheta = Math<T>::sin (theta);
+    
+    T k;
+    if (abs (sintheta) < 1 && abs (theta) >= limits<T>::max() * abs (sintheta))
+	k = 1;
+    else
+	k = theta / sintheta;
+
+    return Quat<T> ((T) 0, v.x * k, v.y * k, v.z * k);
+}
+
+
+template <class T>
+inline Quat<T>
+Quat<T>::exp () const
+{
+    //
+    // For pure quaternion (zero scalar part):
+    // from Advanced Animation and Rendering
+    // Techniques by Watt and Watt, Page 366:
+    //
+
+    T theta = v.length();
+    T sintheta = Math<T>::sin (theta);
+    
+    T k;
+    if (abs (theta) < 1 && abs (sintheta) >= limits<T>::max() * abs (theta))
+	k = 1;
+    else
+	k = sintheta / theta;
+
+    T costheta = Math<T>::cos (theta);
+
+    return Quat<T> (costheta, v.x * k, v.y * k, v.z * k);
+}
+
+
+template <class T>
+inline T
+Quat<T>::angle () const
+{
+    return 2 * Math<T>::atan2 (v.length(), r);
+}
+
+
+template <class T>
+inline Vec3<T>
+Quat<T>::axis () const
+{
+    return v.normalized();
+}
+
+
+template <class T>
+inline Quat<T> &
+Quat<T>::setAxisAngle (const Vec3<T> &axis, T radians)
+{
+    r = Math<T>::cos (radians / 2);
+    v = axis.normalized() * Math<T>::sin (radians / 2);
+    return *this;
+}
+
+
+template <class T>
+Quat<T> &
+Quat<T>::setRotation (const Vec3<T> &from, const Vec3<T> &to)
+{
+    //
+    // Create a quaternion that rotates vector from into vector to,
+    // such that the rotation is around an axis that is the cross
+    // product of from and to.
+    //
+    // This function calls function setRotationInternal(), which is
+    // numerically accurate only for rotation angles that are not much
+    // greater than pi/2.  In order to achieve good accuracy for angles
+    // greater than pi/2, we split large angles in half, and rotate in
+    // two steps.
+    //
+
+    //
+    // Normalize from and to, yielding f0 and t0.
+    //
+
+    Vec3<T> f0 = from.normalized();
+    Vec3<T> t0 = to.normalized();
+
+    if ((f0 ^ t0) >= 0)
+    {
+	//
+	// The rotation angle is less than or equal to pi/2.
+	//
+
+	setRotationInternal (f0, t0, *this);
+    }
+    else
+    {
+	//
+	// The angle is greater than pi/2.  After computing h0,
+	// which is halfway between f0 and t0, we rotate first
+	// from f0 to h0, then from h0 to t0.
+	//
+
+	Vec3<T> h0 = (f0 + t0).normalized();
+
+	if ((h0 ^ h0) != 0)
+	{
+	    setRotationInternal (f0, h0, *this);
+
+	    Quat<T> q;
+	    setRotationInternal (h0, t0, q);
+
+	    *this *= q;
+	}
+	else
+	{
+	    //
+	    // f0 and t0 point in exactly opposite directions.
+	    // Pick an arbitrary axis that is orthogonal to f0,
+	    // and rotate by pi.
+	    //
+
+	    r = T (0);
+
+	    Vec3<T> f02 = f0 * f0;
+
+	    if (f02.x <= f02.y && f02.x <= f02.z)
+		v = (f0 % Vec3<T> (1, 0, 0)).normalized();
+	    else if (f02.y <= f02.z)
+		v = (f0 % Vec3<T> (0, 1, 0)).normalized();
+	    else
+		v = (f0 % Vec3<T> (0, 0, 1)).normalized();
+	}
+    }
+
+    return *this;
+}
+
+
+template <class T>
+void
+Quat<T>::setRotationInternal (const Vec3<T> &f0, const Vec3<T> &t0, Quat<T> &q)
+{
+    //
+    // The following is equivalent to setAxisAngle(n,2*phi),
+    // where the rotation axis, n, is orthogonal to the f0 and
+    // t0 vectors, and 2*phi is the angle between f0 and t0.
+    //
+    // This function is called by setRotation(), above; it assumes
+    // that f0 and t0 are normalized and that the angle between
+    // them is not much greater than pi/2.  This function becomes
+    // numerically inaccurate if f0 and t0 point into nearly
+    // opposite directions.
+    //
+
+    //
+    // Find a normalized vector, h0, that is halfway between f0 and t0.
+    // The angle between f0 and h0 is phi.
+    //
+
+    Vec3<T> h0 = (f0 + t0).normalized();
+
+    //
+    // Store the rotation axis and rotation angle.
+    //
+
+    q.r = f0 ^ h0;	//  f0 ^ h0 == cos (phi)
+    q.v = f0 % h0;	// (f0 % h0).length() == sin (phi)
+}
+
+
+template<class T>
+Matrix33<T>
+Quat<T>::toMatrix33() const
+{
+    return Matrix33<T> (1 - 2 * (v.y * v.y + v.z * v.z),
+			    2 * (v.x * v.y + v.z * r),
+			    2 * (v.z * v.x - v.y * r),
+
+			    2 * (v.x * v.y - v.z * r),
+		        1 - 2 * (v.z * v.z + v.x * v.x),
+			    2 * (v.y * v.z + v.x * r),
+
+			    2 * (v.z * v.x + v.y * r),
+			    2 * (v.y * v.z - v.x * r),
+		        1 - 2 * (v.y * v.y + v.x * v.x));
+}
+
+template<class T>
+Matrix44<T>
+Quat<T>::toMatrix44() const
+{
+    return Matrix44<T> (1 - 2 * (v.y * v.y + v.z * v.z),
+			    2 * (v.x * v.y + v.z * r),
+			    2 * (v.z * v.x - v.y * r),
+			    0,
+			    2 * (v.x * v.y - v.z * r),
+		        1 - 2 * (v.z * v.z + v.x * v.x),
+			    2 * (v.y * v.z + v.x * r),
+			    0,
+			    2 * (v.z * v.x + v.y * r),
+			    2 * (v.y * v.z - v.x * r),
+		        1 - 2 * (v.y * v.y + v.x * v.x),
+			    0,
+			    0,
+			    0,
+			    0,
+			    1);
+}
+
+
+template<class T>
+inline Matrix33<T>
+operator * (const Matrix33<T> &M, const Quat<T> &q)
+{
+    return M * q.toMatrix33();
+}
+
+
+template<class T>
+inline Matrix33<T>
+operator * (const Quat<T> &q, const Matrix33<T> &M)
+{
+    return q.toMatrix33() * M;
+}
+
+
+template<class T>
+std::ostream &
+operator << (std::ostream &o, const Quat<T> &q)
+{
+    return o << "(" << q.r
+	     << " " << q.v.x
+	     << " " << q.v.y
+	     << " " << q.v.z
+	     << ")";
+}
+
+
+template<class T>
+inline Quat<T>
+operator * (const Quat<T> &q1, const Quat<T> &q2)
+{
+    return Quat<T> (q1.r * q2.r - (q1.v ^ q2.v),
+		    q1.r * q2.v + q1.v * q2.r + q1.v % q2.v);
+}
+
+
+template<class T>
+inline Quat<T>
+operator / (const Quat<T> &q1, const Quat<T> &q2)
+{
+    return q1 * q2.inverse();
+}
+
+
+template<class T>
+inline Quat<T>
+operator / (const Quat<T> &q, T t)
+{
+    return Quat<T> (q.r / t, q.v / t);
+}
+
+
+template<class T>
+inline Quat<T>
+operator * (const Quat<T> &q, T t)
+{
+    return Quat<T> (q.r * t, q.v * t);
+}
+
+
+template<class T>
+inline Quat<T>
+operator * (T t, const Quat<T> &q)
+{
+    return Quat<T> (q.r * t, q.v * t);
+}
+
+
+template<class T>
+inline Quat<T>
+operator + (const Quat<T> &q1, const Quat<T> &q2)
+{
+    return Quat<T> (q1.r + q2.r, q1.v + q2.v);
+}
+
+
+template<class T>
+inline Quat<T>
+operator - (const Quat<T> &q1, const Quat<T> &q2)
+{
+    return Quat<T> (q1.r - q2.r, q1.v - q2.v);
+}
+
+
+template<class T>
+inline Quat<T>
+operator ~ (const Quat<T> &q)
+{
+    return Quat<T> (q.r, -q.v);
+}
+
+
+template<class T>
+inline Quat<T>
+operator - (const Quat<T> &q)
+{
+    return Quat<T> (-q.r, -q.v);
+}
+
+
+template<class T>
+inline Vec3<T>
+operator * (const Vec3<T> &v, const Quat<T> &q)
+{
+    Vec3<T> a = q.v % v;
+    Vec3<T> b = q.v % a;
+    return v + T (2) * (q.r * a + b);
+}
+
+#if (defined _WIN32 || defined _WIN64) && defined _MSC_VER
+#pragma warning(default:4244)
+#endif
+
+IMATH_INTERNAL_NAMESPACE_HEADER_EXIT
+
+#endif // INCLUDED_IMATHQUAT_H