Fixed space character

glm/gtc/quaternion.hpp

@@ -79,7 +79,7 @@ namespace detail
 
 		// Convertions
 
-		//! Build a quaternion from euler angles (pitch, yaw, roll), in radians.
+		/// Build a quaternion from euler angles (pitch, yaw, roll), in radians.
 		explicit tquat(
 			tvec3<T> const & eulerAngles);
 		explicit tquat(

glm/gtc/quaternion.inl

@@ -31,48 +31,48 @@
 namespace glm{
 namespace detail
 {
-    template <typename T>
-    GLM_FUNC_QUALIFIER typename tquat<T>::size_type tquat<T>::length() const
-    {
-        return 4;
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tquat<T>::tquat() : 
-        x(0),
-        y(0),
-        z(0),
-        w(1)
-    {}
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tquat<T>::tquat
+	template <typename T>
+	GLM_FUNC_QUALIFIER typename tquat<T>::size_type tquat<T>::length() const
+	{
+		return 4;
+	}
+
+	template <typename T> 
+	GLM_FUNC_QUALIFIER tquat<T>::tquat() : 
+		x(0),
+		y(0),
+		z(0),
+		w(1)
+	{}
+
+	template <typename T> 
+	GLM_FUNC_QUALIFIER tquat<T>::tquat
 	(
 		value_type const & s, 
 		tvec3<T> const & v
 	) : 
-        x(v.x),
-        y(v.y),
-        z(v.z),
-        w(s)
-    {}
+		x(v.x),
+		y(v.y),
+		z(v.z),
+		w(s)
+	{}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tquat<T>::tquat
+	template <typename T> 
+	GLM_FUNC_QUALIFIER tquat<T>::tquat
 	(
 		value_type const & w, 
 		value_type const & x, 
 		value_type const & y, 
 		value_type const & z
 	) :
-        x(x),
-        y(y),
-        z(z),
-        w(w)
-    {}
+		x(x),
+		y(y),
+		z(z),
+		w(w)
+	{}
 
-    //////////////////////////////////////////////////////////////
-    // tquat conversions
+	//////////////////////////////////////////////////////////////
+	// tquat conversions
 
 	//template <typename valType> 
 	//GLM_FUNC_QUALIFIER tquat<valType>::tquat
@@ -107,70 +107,70 @@ namespace detail
 		this->z = c.x * c.y * s.z - s.x * s.y * c.z;		
 	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tquat<T>::tquat
+	template <typename T> 
+	GLM_FUNC_QUALIFIER tquat<T>::tquat
 	(
 		tmat3x3<T> const & m
 	)
-    {
+	{
 		*this = quat_cast(m);
-    }
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tquat<T>::tquat
+	template <typename T> 
+	GLM_FUNC_QUALIFIER tquat<T>::tquat
 	(
 		tmat4x4<T> const & m
 	)
-    {
+	{
 		*this = quat_cast(m);
-    }
+	}
 
-    //////////////////////////////////////////////////////////////
-    // tquat<T> accesses
+	//////////////////////////////////////////////////////////////
+	// tquat<T> accesses
 
-    template <typename T> 
+	template <typename T> 
 	GLM_FUNC_QUALIFIER typename tquat<T>::value_type & tquat<T>::operator [] (int i)
-    {
-        return (&x)[i];
-    }
+	{
+		return (&x)[i];
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER typename tquat<T>::value_type const & tquat<T>::operator [] (int i) const
-    {
-        return (&x)[i];
-    }
+	template <typename T> 
+	GLM_FUNC_QUALIFIER typename tquat<T>::value_type const & tquat<T>::operator [] (int i) const
+	{
+		return (&x)[i];
+	}
 
-    //////////////////////////////////////////////////////////////
-    // tquat<valType> operators
+	//////////////////////////////////////////////////////////////
+	// tquat<valType> operators
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tquat<T> & tquat<T>::operator *=
+	template <typename T> 
+	GLM_FUNC_QUALIFIER tquat<T> & tquat<T>::operator *=
 	(
 		value_type const & s
 	)
-    {
-        this->w *= s;
-        this->x *= s;
-        this->y *= s;
-        this->z *= s;
-        return *this;
-    }
+	{
+		this->w *= s;
+		this->x *= s;
+		this->y *= s;
+		this->z *= s;
+		return *this;
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tquat<T> & tquat<T>::operator /=
+	template <typename T> 
+	GLM_FUNC_QUALIFIER tquat<T> & tquat<T>::operator /=
 	(
 		value_type const & s
 	)
-    {
-        this->w /= s;
-        this->x /= s;
-        this->y /= s;
-        this->z /= s;
-        return *this;
-    }
+	{
+		this->w /= s;
+		this->x /= s;
+		this->y /= s;
+		this->z /= s;
+		return *this;
+	}
 
-    //////////////////////////////////////////////////////////////
-    // tquat<valType> external operators
+	//////////////////////////////////////////////////////////////
+	// tquat<valType> external operators
 
 	template <typename T>
 	GLM_FUNC_QUALIFIER detail::tquat<T> operator- 
@@ -188,11 +188,11 @@ namespace detail
 		detail::tquat<T> const & p
 	) 
 	{ 
-        return detail::tquat<T>(
-            q.w + p.w,
-	        q.x + p.x,
-	        q.y + p.y,
-	        q.z + p.z);
+		return detail::tquat<T>(
+			q.w + p.w,
+			q.x + p.x,
+			q.y + p.y,
+			q.z + p.z);
 	} 
 
 	template <typename T> 
@@ -202,11 +202,11 @@ namespace detail
 		detail::tquat<T> const & p
 	) 
 	{ 
-        return detail::tquat<T>(
-            q.w * p.w - q.x * p.x - q.y * p.y - q.z * p.z,
-	        q.w * p.x + q.x * p.w + q.y * p.z - q.z * p.y,
-	        q.w * p.y + q.y * p.w + q.z * p.x - q.x * p.z,
-	        q.w * p.z + q.z * p.w + q.x * p.y - q.y * p.x);
+		return detail::tquat<T>(
+			q.w * p.w - q.x * p.x - q.y * p.y - q.z * p.z,
+			q.w * p.x + q.x * p.w + q.y * p.z - q.z * p.y,
+			q.w * p.y + q.y * p.w + q.z * p.x - q.x * p.z,
+			q.w * p.z + q.z * p.w + q.x * p.y - q.y * p.x);
 	} 
 
 	// Transformation
@@ -317,108 +317,108 @@ namespace detail
 }//namespace detail
 
 	////////////////////////////////////////////////////////
-    template <typename T> 
+	template <typename T> 
 	GLM_FUNC_QUALIFIER T length
 	(
 		detail::tquat<T> const & q
 	)
-    {
+	{
 		return glm::sqrt(dot(q, q));
-    }
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tquat<T> normalize
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tquat<T> normalize
 	(
 		detail::tquat<T> const & q
 	)
-    {
-        typename detail::tquat<T>::value_type len = length(q);
-        if(len <= typename detail::tquat<T>::value_type(0)) // Problem
-            return detail::tquat<T>(1, 0, 0, 0);
-        typename detail::tquat<T>::value_type oneOverLen = typename detail::tquat<T>::value_type(1) / len;
-        return detail::tquat<T>(q.w * oneOverLen, q.x * oneOverLen, q.y * oneOverLen, q.z * oneOverLen);
-    }
+	{
+		typename detail::tquat<T>::value_type len = length(q);
+		if(len <= typename detail::tquat<T>::value_type(0)) // Problem
+			return detail::tquat<T>(1, 0, 0, 0);
+		typename detail::tquat<T>::value_type oneOverLen = typename detail::tquat<T>::value_type(1) / len;
+		return detail::tquat<T>(q.w * oneOverLen, q.x * oneOverLen, q.y * oneOverLen, q.z * oneOverLen);
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER T dot
+	template <typename T> 
+	GLM_FUNC_QUALIFIER T dot
 	(
 		detail::tquat<T> const & q1, 
 		detail::tquat<T> const & q2
 	)
-    {
-        return q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
-    }
+	{
+		return q1.x * q2.x + q1.y * q2.y + q1.z * q2.z + q1.w * q2.w;
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tquat<T> cross
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tquat<T> cross
 	(
 		detail::tquat<T> const & q1, 
 		detail::tquat<T> const & q2
 	)
-    {
-        return detail::tquat<T>(
-            q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z,
-	        q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y,
-	        q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z,
-	        q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x);
-    }
+	{
+		return detail::tquat<T>(
+			q1.w * q2.w - q1.x * q2.x - q1.y * q2.y - q1.z * q2.z,
+			q1.w * q2.x + q1.x * q2.w + q1.y * q2.z - q1.z * q2.y,
+			q1.w * q2.y + q1.y * q2.w + q1.z * q2.x - q1.x * q2.z,
+			q1.w * q2.z + q1.z * q2.w + q1.x * q2.y - q1.y * q2.x);
+	}
 /*
 	// (x * sin(1 - a) * angle / sin(angle)) + (y * sin(a) * angle / sin(angle))
-    template <typename T>
-    GLM_FUNC_QUALIFIER detail::tquat<T> mix
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tquat<T> mix
 	(
 		detail::tquat<T> const & x, 
 		detail::tquat<T> const & y, 
 		typename detail::tquat<T>::value_type const & a
 	)
-    {
-        if(a <= typename detail::tquat<T>::value_type(0)) return x;
-        if(a >= typename detail::tquat<T>::value_type(1)) return y;
-
-        float fCos = dot(x, y);
-        detail::tquat<T> y2(y); //BUG!!! tquat<T> y2;
-        if(fCos < typename detail::tquat<T>::value_type(0))
-        {
-            y2 = -y;
-            fCos = -fCos;
-        }
-
-        //if(fCos > 1.0f) // problem
-        float k0, k1;
-        if(fCos > typename detail::tquat<T>::value_type(0.9999))
-        {
-            k0 = typename detail::tquat<T>::value_type(1) - a;
-            k1 = typename detail::tquat<T>::value_type(0) + a; //BUG!!! 1.0f + a;
-        }
-        else
-        {
-            typename detail::tquat<T>::value_type fSin = sqrt(T(1) - fCos * fCos);
-            typename detail::tquat<T>::value_type fAngle = atan(fSin, fCos);
-            typename detail::tquat<T>::value_type fOneOverSin = T(1) / fSin;
-            k0 = sin((typename detail::tquat<T>::value_type(1) - a) * fAngle) * fOneOverSin;
-            k1 = sin((typename detail::tquat<T>::value_type(0) + a) * fAngle) * fOneOverSin;
-        }
-
-        return detail::tquat<T>(
-            k0 * x.w + k1 * y2.w,
-            k0 * x.x + k1 * y2.x,
-            k0 * x.y + k1 * y2.y,
-            k0 * x.z + k1 * y2.z);
-    }
-
-    template <typename T>
-    GLM_FUNC_QUALIFIER detail::tquat<T> mix2
+	{
+		if(a <= typename detail::tquat<T>::value_type(0)) return x;
+		if(a >= typename detail::tquat<T>::value_type(1)) return y;
+
+		float fCos = dot(x, y);
+		detail::tquat<T> y2(y); //BUG!!! tquat<T> y2;
+		if(fCos < typename detail::tquat<T>::value_type(0))
+		{
+			y2 = -y;
+			fCos = -fCos;
+		}
+
+		//if(fCos > 1.0f) // problem
+		float k0, k1;
+		if(fCos > typename detail::tquat<T>::value_type(0.9999))
+		{
+			k0 = typename detail::tquat<T>::value_type(1) - a;
+			k1 = typename detail::tquat<T>::value_type(0) + a; //BUG!!! 1.0f + a;
+		}
+		else
+		{
+			typename detail::tquat<T>::value_type fSin = sqrt(T(1) - fCos * fCos);
+			typename detail::tquat<T>::value_type fAngle = atan(fSin, fCos);
+			typename detail::tquat<T>::value_type fOneOverSin = T(1) / fSin;
+			k0 = sin((typename detail::tquat<T>::value_type(1) - a) * fAngle) * fOneOverSin;
+			k1 = sin((typename detail::tquat<T>::value_type(0) + a) * fAngle) * fOneOverSin;
+		}
+
+		return detail::tquat<T>(
+			k0 * x.w + k1 * y2.w,
+			k0 * x.x + k1 * y2.x,
+			k0 * x.y + k1 * y2.y,
+			k0 * x.z + k1 * y2.z);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tquat<T> mix2
 	(
 		detail::tquat<T> const & x, 
 		detail::tquat<T> const & y, 
 		T const & a
 	)
-    {
-        bool flip = false;
+	{
+		bool flip = false;
 		if(a <= T(0)) return x;
-        if(a >= T(1)) return y;
+		if(a >= T(1)) return y;
 
-        T cos_t = dot(x, y);
+		T cos_t = dot(x, y);
 		if(cos_t < T(0))
 		{
 			cos_t = -cos_t;
@@ -440,180 +440,180 @@ namespace detail
 		if(flip)
 			alpha = -alpha;
 		
-        return normalize(beta * x + alpha * y);
-    }
+		return normalize(beta * x + alpha * y);
+	}
 */
-    template <typename T>
-    GLM_FUNC_QUALIFIER detail::tquat<T> mix
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tquat<T> mix
 	(
 		detail::tquat<T> const & x, 
 		detail::tquat<T> const & y, 
 		T const & a
 	)
-    {
+	{
 		T angle = acos(dot(x, y));
 		return (glm::sin((T(1) - a) * angle) * x + glm::sin(a * angle) * y) / glm::sin(angle);
 	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tquat<T> conjugate
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tquat<T> conjugate
 	(
 		detail::tquat<T> const & q
 	)
-    {
-        return detail::tquat<T>(q.w, -q.x, -q.y, -q.z);
-    }
+	{
+		return detail::tquat<T>(q.w, -q.x, -q.y, -q.z);
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tquat<T> inverse
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tquat<T> inverse
 	(
 		detail::tquat<T> const & q
 	)
-    {
-        return conjugate(q) / dot(q, q);
-    }
+	{
+		return conjugate(q) / dot(q, q);
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tquat<T> rotate
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tquat<T> rotate
 	(
 		detail::tquat<T> const & q, 
 		typename detail::tquat<T>::value_type const & angle, 
 		detail::tvec3<T> const & v
 	)
-    {
+	{
 		detail::tvec3<T> Tmp = v;
 
-        // Axis of rotation must be normalised
-        typename detail::tquat<T>::value_type len = glm::length(Tmp);
-        if(abs(len - T(1)) > T(0.001))
-        {
-            T oneOverLen = T(1) / len;
-            Tmp.x *= oneOverLen;
-            Tmp.y *= oneOverLen;
-            Tmp.z *= oneOverLen;
-        }
+		// Axis of rotation must be normalised
+		typename detail::tquat<T>::value_type len = glm::length(Tmp);
+		if(abs(len - T(1)) > T(0.001))
+		{
+			T oneOverLen = T(1) / len;
+			Tmp.x *= oneOverLen;
+			Tmp.y *= oneOverLen;
+			Tmp.z *= oneOverLen;
+		}
 
 #ifdef GLM_FORCE_RADIANS
 		typename detail::tquat<T>::value_type const AngleRad(angle);
 #else
-        typename detail::tquat<T>::value_type const AngleRad = radians(angle);
+		typename detail::tquat<T>::value_type const AngleRad = radians(angle);
 #endif
-        typename detail::tquat<T>::value_type const Sin = sin(AngleRad * T(0.5));
+		typename detail::tquat<T>::value_type const Sin = sin(AngleRad * T(0.5));
 
 		return q * detail::tquat<T>(cos(AngleRad * T(0.5)), Tmp.x * Sin, Tmp.y * Sin, Tmp.z * Sin);
-        //return gtc::quaternion::cross(q, detail::tquat<T>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
+		//return gtc::quaternion::cross(q, detail::tquat<T>(cos(AngleRad * T(0.5)), Tmp.x * fSin, Tmp.y * fSin, Tmp.z * fSin));
 	}
 
 	template <typename T> 
 	GLM_FUNC_QUALIFIER detail::tvec3<T> eulerAngles
 	(
-        detail::tquat<T> const & x
-    )
+		detail::tquat<T> const & x
+	)
 	{
 		return detail::tvec3<T>(pitch(x), yaw(x), roll(x));
 	}
     
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat3x3<T> mat3_cast
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat3x3<T> mat3_cast
 	(
 		detail::tquat<T> const & q
 	)
-    {
-        detail::tmat3x3<T> Result(T(1));
-        Result[0][0] = 1 - 2 * q.y * q.y - 2 * q.z * q.z;
-        Result[0][1] = 2 * q.x * q.y + 2 * q.w * q.z;
-        Result[0][2] = 2 * q.x * q.z - 2 * q.w * q.y;
-
-        Result[1][0] = 2 * q.x * q.y - 2 * q.w * q.z;
-        Result[1][1] = 1 - 2 * q.x * q.x - 2 * q.z * q.z;
-        Result[1][2] = 2 * q.y * q.z + 2 * q.w * q.x;
-
-        Result[2][0] = 2 * q.x * q.z + 2 * q.w * q.y;
-        Result[2][1] = 2 * q.y * q.z - 2 * q.w * q.x;
-        Result[2][2] = 1 - 2 * q.x * q.x - 2 * q.y * q.y;
-        return Result;
-    }
+	{
+		detail::tmat3x3<T> Result(T(1));
+		Result[0][0] = 1 - 2 * q.y * q.y - 2 * q.z * q.z;
+		Result[0][1] = 2 * q.x * q.y + 2 * q.w * q.z;
+		Result[0][2] = 2 * q.x * q.z - 2 * q.w * q.y;
+
+		Result[1][0] = 2 * q.x * q.y - 2 * q.w * q.z;
+		Result[1][1] = 1 - 2 * q.x * q.x - 2 * q.z * q.z;
+		Result[1][2] = 2 * q.y * q.z + 2 * q.w * q.x;
+
+		Result[2][0] = 2 * q.x * q.z + 2 * q.w * q.y;
+		Result[2][1] = 2 * q.y * q.z - 2 * q.w * q.x;
+		Result[2][2] = 1 - 2 * q.x * q.x - 2 * q.y * q.y;
+		return Result;
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat4x4<T> mat4_cast
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tmat4x4<T> mat4_cast
 	(
 		detail::tquat<T> const & q
 	)
-    {
-        return detail::tmat4x4<T>(mat3_cast(q));
-    }
+	{
+		return detail::tmat4x4<T>(mat3_cast(q));
+	}
 
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tquat<T> quat_cast
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tquat<T> quat_cast
 	(
 		detail::tmat3x3<T> const & m
 	)
-    {
-        typename detail::tquat<T>::value_type fourXSquaredMinus1 = m[0][0] - m[1][1] - m[2][2];
-        typename detail::tquat<T>::value_type fourYSquaredMinus1 = m[1][1] - m[0][0] - m[2][2];
-        typename detail::tquat<T>::value_type fourZSquaredMinus1 = m[2][2] - m[0][0] - m[1][1];
-        typename detail::tquat<T>::value_type fourWSquaredMinus1 = m[0][0] + m[1][1] + m[2][2];
+	{
+		typename detail::tquat<T>::value_type fourXSquaredMinus1 = m[0][0] - m[1][1] - m[2][2];
+		typename detail::tquat<T>::value_type fourYSquaredMinus1 = m[1][1] - m[0][0] - m[2][2];
+		typename detail::tquat<T>::value_type fourZSquaredMinus1 = m[2][2] - m[0][0] - m[1][1];
+		typename detail::tquat<T>::value_type fourWSquaredMinus1 = m[0][0] + m[1][1] + m[2][2];
         
-        int biggestIndex = 0;
-        typename detail::tquat<T>::value_type fourBiggestSquaredMinus1 = fourWSquaredMinus1;
-        if(fourXSquaredMinus1 > fourBiggestSquaredMinus1)
-        {
-            fourBiggestSquaredMinus1 = fourXSquaredMinus1;
-            biggestIndex = 1;
-        }
-        if(fourYSquaredMinus1 > fourBiggestSquaredMinus1)
-        {
-            fourBiggestSquaredMinus1 = fourYSquaredMinus1;
-            biggestIndex = 2;
-        }
-        if(fourZSquaredMinus1 > fourBiggestSquaredMinus1)
-        {
-            fourBiggestSquaredMinus1 = fourZSquaredMinus1;
-            biggestIndex = 3;
-        }
-
-        typename detail::tquat<T>::value_type biggestVal = sqrt(fourBiggestSquaredMinus1 + T(1)) * T(0.5);
-        typename detail::tquat<T>::value_type mult = T(0.25) / biggestVal;
-
-        detail::tquat<T> Result;
-        switch(biggestIndex)
-        {
-        case 0:
-            Result.w = biggestVal; 
-            Result.x = (m[1][2] - m[2][1]) * mult;
-            Result.y = (m[2][0] - m[0][2]) * mult;
-            Result.z = (m[0][1] - m[1][0]) * mult;
-            break;
-        case 1:
-            Result.w = (m[1][2] - m[2][1]) * mult;
-            Result.x = biggestVal;
-            Result.y = (m[0][1] + m[1][0]) * mult;
-            Result.z = (m[2][0] + m[0][2]) * mult;
-            break;
-        case 2:
-            Result.w = (m[2][0] - m[0][2]) * mult;
-            Result.x = (m[0][1] + m[1][0]) * mult;
-            Result.y = biggestVal;
-            Result.z = (m[1][2] + m[2][1]) * mult;
-            break;
-        case 3:
-            Result.w = (m[0][1] - m[1][0]) * mult;
-            Result.x = (m[2][0] + m[0][2]) * mult;
-            Result.y = (m[1][2] + m[2][1]) * mult;
-            Result.z = biggestVal;
-            break;
-        }
-        return Result;
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tquat<T> quat_cast
+		int biggestIndex = 0;
+		typename detail::tquat<T>::value_type fourBiggestSquaredMinus1 = fourWSquaredMinus1;
+		if(fourXSquaredMinus1 > fourBiggestSquaredMinus1)
+		{
+			fourBiggestSquaredMinus1 = fourXSquaredMinus1;
+			biggestIndex = 1;
+		}
+		if(fourYSquaredMinus1 > fourBiggestSquaredMinus1)
+		{
+			fourBiggestSquaredMinus1 = fourYSquaredMinus1;
+			biggestIndex = 2;
+		}
+		if(fourZSquaredMinus1 > fourBiggestSquaredMinus1)
+		{
+			fourBiggestSquaredMinus1 = fourZSquaredMinus1;
+			biggestIndex = 3;
+		}
+
+		typename detail::tquat<T>::value_type biggestVal = sqrt(fourBiggestSquaredMinus1 + T(1)) * T(0.5);
+		typename detail::tquat<T>::value_type mult = T(0.25) / biggestVal;
+
+		detail::tquat<T> Result;
+		switch(biggestIndex)
+		{
+		case 0:
+			Result.w = biggestVal; 
+			Result.x = (m[1][2] - m[2][1]) * mult;
+			Result.y = (m[2][0] - m[0][2]) * mult;
+			Result.z = (m[0][1] - m[1][0]) * mult;
+			break;
+		case 1:
+			Result.w = (m[1][2] - m[2][1]) * mult;
+			Result.x = biggestVal;
+			Result.y = (m[0][1] + m[1][0]) * mult;
+			Result.z = (m[2][0] + m[0][2]) * mult;
+			break;
+		case 2:
+			Result.w = (m[2][0] - m[0][2]) * mult;
+			Result.x = (m[0][1] + m[1][0]) * mult;
+			Result.y = biggestVal;
+			Result.z = (m[1][2] + m[2][1]) * mult;
+			break;
+		case 3:
+			Result.w = (m[0][1] - m[1][0]) * mult;
+			Result.x = (m[2][0] + m[0][2]) * mult;
+			Result.y = (m[1][2] + m[2][1]) * mult;
+			Result.z = biggestVal;
+			break;
+		}
+		return Result;
+	}
+
+	template <typename T> 
+	GLM_FUNC_QUALIFIER detail::tquat<T> quat_cast
 	(
 		detail::tmat4x4<T> const & m4
 	)
-    {
+	{
 		return quat_cast(detail::tmat3x3<T>(m4));
-    }
+	}
 
 	template <typename T> 
 	GLM_FUNC_QUALIFIER T angle