////  Quat.cpp//  libraries/script-engine/src////  Created by Brad Hefta-Gaub on 1/29/14.//  Copyright 2014 High Fidelity, Inc.////  Distributed under the Apache License, Version 2.0.//  See the accompanying file LICENSE or http://www.apache.org/licenses/LICENSE-2.0.html// #include <glm/gtx/vector_angle.hpp> #include <QDebug> #include <OctreeConstants.h>#include <GLMHelpers.h>#include "ScriptEngineLogging.h"#include "Quat.h"  glm::quat Quat::multiply(const glm::quat& q1, const glm::quat& q2) {     return q1 * q2; } glm::quat Quat::fromVec3Degrees(const glm::vec3& eulerAngles) {     return glm::quat(glm::radians(eulerAngles)); } glm::quat Quat::fromVec3Radians(const glm::vec3& eulerAngles) {     return glm::quat(eulerAngles); } glm::quat Quat::fromPitchYawRollDegrees(float pitch, float yaw, float roll) {     return glm::quat(glm::radians(glm::vec3(pitch, yaw, roll)));} glm::quat Quat::fromPitchYawRollRadians(float pitch, float yaw, float roll) {     return glm::quat(glm::vec3(pitch, yaw, roll));} glm::quat Quat::inverse(const glm::quat& q) {    return glm::inverse(q);} glm::vec3 Quat::getFront(const glm::quat& orientation) {    return orientation * IDENTITY_FRONT;} glm::vec3 Quat::getRight(const glm::quat& orientation) {    return orientation * IDENTITY_RIGHT;} glm::vec3 Quat::getUp(const glm::quat& orientation) {    return orientation * IDENTITY_UP;} glm::vec3 Quat::safeEulerAngles(const glm::quat& orientation) {    return glm::degrees(::safeEulerAngles(orientation));} glm::quat Quat::angleAxis(float angle, const glm::vec3& v) {    return glm::angleAxis(glm::radians(angle), v);} glm::vec3 Quat::axis(const glm::quat& orientation) {    return glm::axis(orientation);} float Quat::angle(const glm::quat& orientation) {    return glm::angle(orientation);} glm::quat Quat::mix(const glm::quat& q1, const glm::quat& q2, float alpha) {    return safeMix(q1, q2, alpha);} /// Spherical Linear Interpolationglm::quat Quat::slerp(const glm::quat& q1, const glm::quat& q2, float alpha) {    return glm::slerp(q1, q2, alpha);} // Spherical Quadratic Interpolationglm::quat Quat::squad(const glm::quat& q1, const glm::quat& q2, const glm::quat& s1, const glm::quat& s2, float h) {    return glm::squad(q1, q2, s1, s2, h);} float Quat::dot(const glm::quat& q1, const glm::quat& q2) {    return glm::dot(q1, q2);} void Quat::print(const QString& lable, const glm::quat& q) {    qCDebug(scriptengine) << qPrintable(lable) << q.x << "," << q.y << "," << q.z << "," << q.w;} bool Quat::equal(const glm::vec3& q1, const glm::vec3& q2) {    return q1 == q2;}