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gtc/quaternion.hpp
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1
44 #pragma once
45
46 // Dependency:
47 #include "../mat3x3.hpp"
48 #include "../mat4x4.hpp"
49 #include "../vec3.hpp"
50 #include "../vec4.hpp"
51 #include "../gtc/constants.hpp"
52
53 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
54 # pragma message("GLM: GLM_GTC_quaternion extension included")
55 #endif
56
57 namespace glm
58 {
61
62 template <typename T, precision P>
63 struct tquat
64 {
65 typedef tquat<T, P> type;
66 typedef T value_type;
67
68 public:
69 T x, y, z, w;
70
72 // Component accesses
73
74 # ifdef GLM_FORCE_SIZE_FUNC
75 typedef size_t size_type;
77 GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const;
78
79 GLM_FUNC_DECL T & operator[](size_type i);
80 GLM_FUNC_DECL T const & operator[](size_type i) const;
81 # else
82 typedef length_t length_type;
84 GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const;
85
86 GLM_FUNC_DECL T & operator[](length_type i);
87 GLM_FUNC_DECL T const & operator[](length_type i) const;
88 # endif//GLM_FORCE_SIZE_FUNC
89
91 // Implicit basic constructors
92
93 GLM_FUNC_DECL tquat();
94 template <precision Q>
95 GLM_FUNC_DECL tquat(tquat<T, Q> const & q);
96
98 // Explicit basic constructors
99
100 GLM_FUNC_DECL explicit tquat(ctor);
101 GLM_FUNC_DECL explicit tquat(T const & s, tvec3<T, P> const & v);
102 GLM_FUNC_DECL tquat(T const & w, T const & x, T const & y, T const & z);
103
105 // Convertions
106
107 # ifdef GLM_FORCE_EXPLICIT_CTOR
108 template <typename U, precision Q>
109 GLM_FUNC_DECL explicit tquat(tquat<U, Q> const & q);
110 # else
111 template <typename U, precision Q>
112 GLM_FUNC_DECL tquat(tquat<U, Q> const & q);
113 # endif
114
115 // explicit conversion operators
116 GLM_FUNC_DECL explicit operator tmat3x3<T, P>();
117 GLM_FUNC_DECL explicit operator tmat4x4<T, P>();
118
125 GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & u, tvec3<T, P> const & v);
126
128 GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & eulerAngles);
129 GLM_FUNC_DECL explicit tquat(tmat3x3<T, P> const & m);
130 GLM_FUNC_DECL explicit tquat(tmat4x4<T, P> const & m);
131
133 // Operators
134 GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<T, P> const & q);
135 GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<T, P> const & q);
136 GLM_FUNC_DECL tquat<T, P> & operator*=(T const & s);
137 GLM_FUNC_DECL tquat<T, P> & operator/=(T const & s);
138 };
139
140 template <typename T, precision P>
141 GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q);
142
143 template <typename T, precision P>
144 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p);
145
146 template <typename T, precision P>
147 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p);
148
149 template <typename T, precision P>
150 GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v);
151
152 template <typename T, precision P>
153 GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q);
154
155 template <typename T, precision P>
156 GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v);
157
158 template <typename T, precision P>
159 GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q);
160
161 template <typename T, precision P>
162 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s);
163
164 template <typename T, precision P>
165 GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q);
166
167 template <typename T, precision P>
168 GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s);
169
173 template <typename T, precision P>
174 GLM_FUNC_DECL T length(tquat<T, P> const & q);
175
179 template <typename T, precision P>
180 GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q);
181
185 template <typename T, precision P, template <typename, precision> class quatType>
186 GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y);
187
198 template <typename T, precision P>
199 GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T const & a);
200
209 template <typename T, precision P>
210 GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a);
211
220 template <typename T, precision P>
221 GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a);
222
226 template <typename T, precision P>
227 GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q);
228
232 template <typename T, precision P>
233 GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q);
234
242 template <typename T, precision P>
243 GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis);
244
249 template <typename T, precision P>
250 GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x);
251
255 template <typename T, precision P>
256 GLM_FUNC_DECL T roll(tquat<T, P> const & x);
257
261 template <typename T, precision P>
262 GLM_FUNC_DECL T pitch(tquat<T, P> const & x);
263
267 template <typename T, precision P>
268 GLM_FUNC_DECL T yaw(tquat<T, P> const & x);
269
273 template <typename T, precision P>
274 GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x);
275
279 template <typename T, precision P>
280 GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x);
281
285 template <typename T, precision P>
286 GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x);
287
291 template <typename T, precision P>
292 GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x);
293
297 template <typename T, precision P>
298 GLM_FUNC_DECL T angle(tquat<T, P> const & x);
299
303 template <typename T, precision P>
304 GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x);
305
312 template <typename T, precision P>
313 GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis);
314
320 template <typename T, precision P>
321 GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y);
322
328 template <typename T, precision P>
329 GLM_FUNC_DECL tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
330
336 template <typename T, precision P>
337 GLM_FUNC_DECL tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y);
338
344 template <typename T, precision P>
345 GLM_FUNC_DECL tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
346
352 template <typename T, precision P>
353 GLM_FUNC_DECL tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y);
354
360 template <typename T, precision P>
361 GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y);
363 } //namespace glm
364
365 #include "quaternion.inl"
glm::quat_cast
GLM_FUNC_DECL tquat< T, P > quat_cast(tmat4x4< T, P > const &x)
Converts a 4 * 4 matrix to a quaternion.
glm::rotate
GLM_FUNC_DECL tquat< T, P > rotate(tquat< T, P > const &q, T const &angle, tvec3< T, P > const &axis)
Rotates a quaternion from a vector of 3 components axis and an angle.
glm::lessThanEqual
GLM_FUNC_DECL tvec4< bool, P > lessThanEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x <= y.
glm::lessThan
GLM_FUNC_DECL tvec4< bool, P > lessThan(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison result of x < y.
glm::notEqual
GLM_FUNC_DECL tvec4< bool, P > notEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x != y.
glm::inverse
GLM_FUNC_DECL tquat< T, P > inverse(tquat< T, P > const &q)
Returns the q inverse.
glm::length
GLM_FUNC_DECL T length(tquat< T, P > const &q)
Returns the length of the quaternion.
glm::axis
GLM_FUNC_DECL tvec3< T, P > axis(tquat< T, P > const &x)
Returns the q rotation axis.
glm::slerp
GLM_FUNC_DECL tquat< T, P > slerp(tquat< T, P > const &x, tquat< T, P > const &y, T const &a)
Spherical linear interpolation of two quaternions.
Definition: compatibility.hpp:76
glm::mat3_cast
GLM_FUNC_DECL tmat3x3< T, P > mat3_cast(tquat< T, P > const &x)
Converts a quaternion to a 3 * 3 matrix.
glm::dot
GLM_FUNC_DECL T dot(quatType< T, P > const &x, quatType< T, P > const &y)
Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
glm::angle
GLM_FUNC_DECL T angle(tquat< T, P > const &x)
Returns the quaternion rotation angle.
glm::eulerAngles
GLM_FUNC_DECL tvec3< T, P > eulerAngles(tquat< T, P > const &x)
Returns euler angles, yitch as x, yaw as y, roll as z.
glm::greaterThan
GLM_FUNC_DECL tvec4< bool, P > greaterThan(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x > y.
glm::mix
GLM_FUNC_DECL tquat< T, P > mix(tquat< T, P > const &x, tquat< T, P > const &y, T const &a)
Spherical linear interpolation of two quaternions.
glm::normalize
GLM_FUNC_DECL tquat< T, P > normalize(tquat< T, P > const &q)
Returns the normalized quaternion.
glm::equal
GLM_FUNC_DECL tvec4< bool, P > equal(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x == y.
glm::pitch
GLM_FUNC_DECL T pitch(tquat< T, P > const &x)
Returns pitch value of euler angles expressed in radians.
glm::greaterThanEqual
GLM_FUNC_DECL tvec4< bool, P > greaterThanEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x >= y.
glm::roll
GLM_FUNC_DECL T roll(tquat< T, P > const &x)
Returns roll value of euler angles expressed in radians.
glm
Definition: _noise.hpp:39
glm::conjugate
GLM_FUNC_DECL tquat< T, P > conjugate(tquat< T, P > const &q)
Returns the q conjugate.
glm::mat4_cast
GLM_FUNC_DECL tmat4x4< T, P > mat4_cast(tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 matrix.
glm::angleAxis
GLM_FUNC_DECL tquat< T, P > angleAxis(T const &angle, tvec3< T, P > const &axis)
Build a quaternion from an angle and a normalized axis.
glm::yaw
GLM_FUNC_DECL T yaw(tquat< T, P > const &x)
Returns yaw value of euler angles expressed in radians.
glm::lerp
GLM_FUNC_DECL tquat< T, P > lerp(tquat< T, P > const &x, tquat< T, P > const &y, T const &a)
Linear interpolation of two quaternions.