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dual_quaternion.hpp
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1
45 #pragma once
46
47 // Dependency:
48 #include "../glm.hpp"
49 #include "../gtc/constants.hpp"
50 #include "../gtc/quaternion.hpp"
51
52 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
53 # pragma message("GLM: GLM_GTX_dual_quaternion extension included")
54 #endif
55
56 namespace glm
57 {
60
61 template <typename T, precision P>
62 struct tdualquat
63 {
64 typedef T value_type;
65 typedef glm::tquat<T, P> part_type;
66
67 public:
68 glm::tquat<T, P> real, dual;
69
71 // Component accesses
72
73 # ifdef GLM_FORCE_SIZE_FUNC
74 typedef size_t size_type;
76 GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const;
77
78 GLM_FUNC_DECL part_type & operator[](size_type i);
79 GLM_FUNC_DECL part_type const & operator[](size_type i) const;
80 # else
81 typedef length_t length_type;
83 GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const;
84
85 GLM_FUNC_DECL part_type & operator[](length_type i);
86 GLM_FUNC_DECL part_type const & operator[](length_type i) const;
87 # endif//GLM_FORCE_SIZE_FUNC
88
90 // Implicit basic constructors
91
92 GLM_FUNC_DECL tdualquat();
93 template <precision Q>
94 GLM_FUNC_DECL tdualquat(tdualquat<T, Q> const & d);
95
97 // Explicit basic constructors
98
99 GLM_FUNC_DECL explicit tdualquat(ctor);
100 GLM_FUNC_DECL explicit tdualquat(tquat<T, P> const & real);
101 GLM_FUNC_DECL tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation);
102 GLM_FUNC_DECL tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);
103
105 // tdualquat conversions
106
107 # ifdef GLM_FORCE_EXPLICIT_CTOR
108 template <typename U, precision Q>
109 GLM_FUNC_DECL explicit tdualquat(tdualquat<U, Q> const & q);
110 # else
111 template <typename U, precision Q>
112 GLM_FUNC_DECL tdualquat(tdualquat<U, Q> const & q);
113 # endif
114
115 GLM_FUNC_DECL explicit tdualquat(tmat2x4<T, P> const & holder_mat);
116 GLM_FUNC_DECL explicit tdualquat(tmat3x4<T, P> const & aug_mat);
117
118 // Operators
119 GLM_FUNC_DECL tdualquat<T, P> & operator*=(T const & s);
120 GLM_FUNC_DECL tdualquat<T, P> & operator/=(T const & s);
121 };
122
123 template <typename T, precision P>
124 GLM_FUNC_DECL tquat<T, P> operator- (
125 tquat<T, P> const & q);
126
127 template <typename T, precision P>
128 GLM_FUNC_DECL tdualquat<T, P> operator+ (
129 tdualquat<T, P> const & q,
130 tdualquat<T, P> const & p);
131
132 template <typename T, precision P>
133 GLM_FUNC_DECL tdualquat<T, P> operator* (
134 tdualquat<T, P> const & q,
135 tdualquat<T, P> const & p);
136
137 template <typename T, precision P>
138 GLM_FUNC_DECL tvec3<T, P> operator* (
139 tquat<T, P> const & q,
140 tvec3<T, P> const & v);
141
142 template <typename T, precision P>
143 GLM_FUNC_DECL tvec3<T, P> operator* (
144 tvec3<T, P> const & v,
145 tquat<T, P> const & q);
146
147 template <typename T, precision P>
148 GLM_FUNC_DECL tvec4<T, P> operator* (
149 tquat<T, P> const & q,
150 tvec4<T, P> const & v);
151
152 template <typename T, precision P>
153 GLM_FUNC_DECL tvec4<T, P> operator* (
154 tvec4<T, P> const & v,
155 tquat<T, P> const & q);
156
157 template <typename T, precision P>
158 GLM_FUNC_DECL tdualquat<T, P> operator* (
159 tdualquat<T, P> const & q,
160 T const & s);
161
162 template <typename T, precision P>
163 GLM_FUNC_DECL tdualquat<T, P> operator* (
164 T const & s,
165 tdualquat<T, P> const & q);
166
167 template <typename T, precision P>
168 GLM_FUNC_DECL tdualquat<T, P> operator/ (
169 tdualquat<T, P> const & q,
170 T const & s);
171
175 template <typename T, precision P>
176 GLM_FUNC_DECL tdualquat<T, P> normalize(
177 tdualquat<T, P> const & q);
178
182 template <typename T, precision P>
183 GLM_FUNC_DECL tdualquat<T, P> lerp(
184 tdualquat<T, P> const & x,
185 tdualquat<T, P> const & y,
186 T const & a);
187
191 template <typename T, precision P>
192 GLM_FUNC_DECL tdualquat<T, P> inverse(
193 tdualquat<T, P> const & q);
194
198 template <typename T, precision P>
199 GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast(
200 tdualquat<T, P> const & x);
201
205 template <typename T, precision P>
206 GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast(
207 tdualquat<T, P> const & x);
208
212 template <typename T, precision P>
213 GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(
214 tmat2x4<T, P> const & x);
215
219 template <typename T, precision P>
220 GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(
221 tmat3x4<T, P> const & x);
222
223
227 typedef tdualquat<float, lowp> lowp_dualquat;
228
232 typedef tdualquat<float, mediump> mediump_dualquat;
233
237 typedef tdualquat<float, highp> highp_dualquat;
238
239
243 typedef tdualquat<float, lowp> lowp_fdualquat;
244
248 typedef tdualquat<float, mediump> mediump_fdualquat;
249
253 typedef tdualquat<float, highp> highp_fdualquat;
254
255
259 typedef tdualquat<double, lowp> lowp_ddualquat;
260
264 typedef tdualquat<double, mediump> mediump_ddualquat;
265
269 typedef tdualquat<double, highp> highp_ddualquat;
270
271
272 #if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
273 typedef highp_fdualquat dualquat;
277
281 typedef highp_fdualquat fdualquat;
282 #elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
283 typedef highp_fdualquat dualquat;
284 typedef highp_fdualquat fdualquat;
285 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
286 typedef mediump_fdualquat dualquat;
287 typedef mediump_fdualquat fdualquat;
288 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
289 typedef lowp_fdualquat dualquat;
290 typedef lowp_fdualquat fdualquat;
291 #else
292 # error "GLM error: multiple default precision requested for single-precision floating-point types"
293 #endif
294
295
296 #if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
297 typedef highp_ddualquat ddualquat;
301 #elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
302 typedef highp_ddualquat ddualquat;
303 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
304 typedef mediump_ddualquat ddualquat;
305 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
306 typedef lowp_ddualquat ddualquat;
307 #else
308 # error "GLM error: Multiple default precision requested for double-precision floating-point types"
309 #endif
310
312 } //namespace glm
313
314 #include "dual_quaternion.inl"
glm::lowp_fdualquat
tdualquat< float, lowp > lowp_fdualquat
Dual-quaternion of low single-precision floating-point numbers.
Definition: dual_quaternion.hpp:243
glm::dualquat
highp_fdualquat dualquat
Dual-quaternion of floating-point numbers.
Definition: dual_quaternion.hpp:276
glm::lowp_dualquat
tdualquat< float, lowp > lowp_dualquat
Dual-quaternion of low single-precision floating-point numbers.
Definition: dual_quaternion.hpp:227
glm::dualquat_cast
GLM_FUNC_DECL tdualquat< T, P > dualquat_cast(tmat3x4< T, P > const &x)
Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
glm::lerp
GLM_FUNC_DECL tdualquat< T, P > lerp(tdualquat< T, P > const &x, tdualquat< T, P > const &y, T const &a)
Returns the linear interpolation of two dual quaternion.
glm::highp_dualquat
tdualquat< float, highp > highp_dualquat
Dual-quaternion of high single-precision floating-point numbers.
Definition: dual_quaternion.hpp:237
glm::lowp_ddualquat
tdualquat< double, lowp > lowp_ddualquat
Dual-quaternion of low double-precision floating-point numbers.
Definition: dual_quaternion.hpp:259
glm::highp_ddualquat
tdualquat< double, highp > highp_ddualquat
Dual-quaternion of high double-precision floating-point numbers.
Definition: dual_quaternion.hpp:269
glm::ddualquat
highp_ddualquat ddualquat
Dual-quaternion of default double-precision floating-point numbers.
Definition: dual_quaternion.hpp:300
glm::mediump_dualquat
tdualquat< float, mediump > mediump_dualquat
Dual-quaternion of medium single-precision floating-point numbers.
Definition: dual_quaternion.hpp:232
glm::mat2x4_cast
GLM_FUNC_DECL tmat2x4< T, P > mat2x4_cast(tdualquat< T, P > const &x)
Converts a quaternion to a 2 * 4 matrix.
glm::fdualquat
highp_fdualquat fdualquat
Dual-quaternion of single-precision floating-point numbers.
Definition: dual_quaternion.hpp:281
glm::length
GLM_FUNC_DECL T length(vecType< T, P > const &x)
Returns the length of x, i.e., sqrt(x * x).
glm::mediump_ddualquat
tdualquat< double, mediump > mediump_ddualquat
Dual-quaternion of medium double-precision floating-point numbers.
Definition: dual_quaternion.hpp:264
glm::mat3x4_cast
GLM_FUNC_DECL tmat3x4< T, P > mat3x4_cast(tdualquat< T, P > const &x)
Converts a quaternion to a 3 * 4 matrix.
glm::highp_fdualquat
tdualquat< float, highp > highp_fdualquat
Dual-quaternion of high single-precision floating-point numbers.
Definition: dual_quaternion.hpp:253
glm::inverse
GLM_FUNC_DECL tdualquat< T, P > inverse(tdualquat< T, P > const &q)
Returns the q inverse.
glm
Definition: _noise.hpp:39
glm::orientation
GLM_FUNC_DECL tmat4x4< T, P > orientation(tvec3< T, P > const &Normal, tvec3< T, P > const &Up)
Build a rotation matrix from a normal and a up vector.
glm::normalize
GLM_FUNC_DECL tdualquat< T, P > normalize(tdualquat< T, P > const &q)
Returns the normalized quaternion.
glm::mediump_fdualquat
tdualquat< float, mediump > mediump_fdualquat
Dual-quaternion of medium single-precision floating-point numbers.
Definition: dual_quaternion.hpp:248