removed geeky stuff

dualquat.hpp

@@ -6,28 +6,10 @@
 #include <limits>
 #include <cmath>
 
-#include <immintrin.h> 
 #include <assert.h>
 
 #define EPS(value_t) (std::numeric_limits<value_t>::epsilon())
 
-template <class value_t>
-inline value_t rsqrt(value_t x) {
-    return 1.0/std::sqrt(x);
-}
-
-/* feel free to substitute AVX variants
-template <>
-inline float rsqrt(float x) {
-    return 1.0/std::sqrt(x);
-}
-
-template <>
-inline double rsqrt(double x) {
-    return 1.0/std::sqrt(x);
-}
-*/
-
 template <class value_t>
 struct quat {
 
@@ -89,7 +71,7 @@ struct quat {
     }
 
     quat<value_t> N() const {
-        const value_t rho = sqrt(w*w+x*x+y*y+z*z);
+        const value_t rho = std::sqrt(w*w+x*x+y*y+z*z);
         return quat<value_t>(w/rho, x/rho, y/rho, z/rho);
     }
 
@@ -130,7 +112,7 @@ struct quat {
 
         assert(isunit());
 
-        const value_t inv = rsqrt(x*x+y*y+z*z+EPS(value_t));
+        const value_t inv = 1.0/std::sqrt(x*x+y*y+z*z+EPS(value_t));
         const value_t fac = std::acos(w > 1 ? 1 : w < -1 ? -1 : w)*inv;
 
         return quat<value_t> (0, x*fac, y*fac, z*fac);
@@ -284,7 +266,7 @@ struct dualquat {
         const value_t qq = w*w+x*x+y*y+z*z+EPS(value_t);
         const value_t qQ = w*W+x*X+y*Y+z*Z;
         const value_t invqq = 1.0/qq;
-        const value_t invsq = rsqrt(qq);
+        const value_t invsq = 1.0/std::sqrt(qq);
         const value_t alpha = qQ*invqq*invqq;
 
         return dualquat<value_t>(w*invsq, x*invsq, 
@@ -365,7 +347,7 @@ struct dualquat {
         assert(isunit());
 
         const value_t theta =  2.0*std::acos(w > 1 ? 1 : w < -1 ? -1 : w);
-        const value_t invvv =  0.5*rsqrt(x*x+y*y+z*z+EPS(value_t));
+        const value_t invvv =  0.5/std::sqrt(x*x+y*y+z*z+EPS(value_t));
         const value_t pitch = -4.0*W*invvv;
         const value_t alpha =  pitch*w;