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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 = defaultp>
63 struct tquat
64 {
65 // -- Implementation detail --
66
67 typedef tquat<T, P> type;
68 typedef T value_type;
69
70 # ifdef GLM_META_PROG_HELPERS
71 static GLM_RELAXED_CONSTEXPR length_t components = 4;
72 static GLM_RELAXED_CONSTEXPR precision prec = P;
73 # endif//GLM_META_PROG_HELPERS
74
75 // -- Data --
76
77 T x, y, z, w;
78
79 // -- Component accesses --
80
81 # ifdef GLM_FORCE_SIZE_FUNC
82 typedef size_t size_type;
84 GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const;
85
86 GLM_FUNC_DECL T & operator[](size_type i);
87 GLM_FUNC_DECL T const & operator[](size_type i) const;
88 # else
89 typedef length_t length_type;
91 GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const;
92
93 GLM_FUNC_DECL T & operator[](length_type i);
94 GLM_FUNC_DECL T const & operator[](length_type i) const;
95 # endif//GLM_FORCE_SIZE_FUNC
96
97 // -- Implicit basic constructors --
98
99 GLM_FUNC_DECL tquat() GLM_DEFAULT_CTOR;
100 GLM_FUNC_DECL tquat(tquat<T, P> const & q) GLM_DEFAULT;
101 template <precision Q>
102 GLM_FUNC_DECL tquat(tquat<T, Q> const & q);
103
104 // -- Explicit basic constructors --
105
106 GLM_FUNC_DECL explicit tquat(ctor);
107 GLM_FUNC_DECL explicit tquat(T const & s, tvec3<T, P> const & v);
108 GLM_FUNC_DECL tquat(T const & w, T const & x, T const & y, T const & z);
109
110 // -- Conversion constructors --
111
112 template <typename U, precision Q>
113 GLM_FUNC_DECL GLM_EXPLICIT tquat(tquat<U, Q> const & q);
114
116 # if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
117 GLM_FUNC_DECL explicit operator tmat3x3<T, P>();
118 GLM_FUNC_DECL explicit operator tmat4x4<T, P>();
119 # endif
120
127 GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & u, tvec3<T, P> const & v);
128
130 GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & eulerAngles);
131 GLM_FUNC_DECL explicit tquat(tmat3x3<T, P> const & m);
132 GLM_FUNC_DECL explicit tquat(tmat4x4<T, P> const & m);
133
134 // -- Unary arithmetic operators --
135
136 GLM_FUNC_DECL tquat<T, P> & operator=(tquat<T, P> const & m) GLM_DEFAULT;
137
138 template <typename U>
139 GLM_FUNC_DECL tquat<T, P> & operator=(tquat<U, P> const & m);
140 template <typename U>
141 GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<U, P> const & q);
142 template <typename U>
143 GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<U, P> const & q);
144 template <typename U>
145 GLM_FUNC_DECL tquat<T, P> & operator*=(U s);
146 template <typename U>
147 GLM_FUNC_DECL tquat<T, P> & operator/=(U s);
148 };
149
150 // -- Unary bit operators --
151
152 template <typename T, precision P>
153 GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q);
154
155 // -- Binary operators --
156
157 template <typename T, precision P>
158 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p);
159
160 template <typename T, precision P>
161 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p);
162
163 template <typename T, precision P>
164 GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v);
165
166 template <typename T, precision P>
167 GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q);
168
169 template <typename T, precision P>
170 GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v);
171
172 template <typename T, precision P>
173 GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q);
174
175 template <typename T, precision P>
176 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s);
177
178 template <typename T, precision P>
179 GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q);
180
181 template <typename T, precision P>
182 GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s);
183
187 template <typename T, precision P>
188 GLM_FUNC_DECL T length(tquat<T, P> const & q);
189
193 template <typename T, precision P>
194 GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q);
195
199 template <typename T, precision P, template <typename, precision> class quatType>
200 GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y);
201
212 template <typename T, precision P>
213 GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T a);
214
223 template <typename T, precision P>
224 GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
225
234 template <typename T, precision P>
235 GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
236
240 template <typename T, precision P>
241 GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q);
242
246 template <typename T, precision P>
247 GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q);
248
256 template <typename T, precision P>
257 GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis);
258
263 template <typename T, precision P>
264 GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x);
265
269 template <typename T, precision P>
270 GLM_FUNC_DECL T roll(tquat<T, P> const & x);
271
275 template <typename T, precision P>
276 GLM_FUNC_DECL T pitch(tquat<T, P> const & x);
277
281 template <typename T, precision P>
282 GLM_FUNC_DECL T yaw(tquat<T, P> const & x);
283
287 template <typename T, precision P>
288 GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x);
289
293 template <typename T, precision P>
294 GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x);
295
299 template <typename T, precision P>
300 GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x);
301
305 template <typename T, precision P>
306 GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x);
307
311 template <typename T, precision P>
312 GLM_FUNC_DECL T angle(tquat<T, P> const & x);
313
317 template <typename T, precision P>
318 GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x);
319
326 template <typename T, precision P>
327 GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis);
328
334 template <typename T, precision P>
335 GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y);
336
342 template <typename T, precision P>
343 GLM_FUNC_DECL tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
344
350 template <typename T, precision P>
351 GLM_FUNC_DECL tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y);
352
358 template <typename T, precision P>
359 GLM_FUNC_DECL tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
360
366 template <typename T, precision P>
367 GLM_FUNC_DECL tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y);
368
374 template <typename T, precision P>
375 GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y);
377 } //namespace glm
378
379 #include "quaternion.inl"
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::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::conjugate
GLM_FUNC_DECL tquat< T, P > conjugate(tquat< T, P > const &q)
Returns the q conjugate.
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::mat4_cast
GLM_FUNC_DECL tmat4x4< T, P > mat4_cast(tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 matrix.
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::lerp
GLM_FUNC_DECL tquat< T, P > lerp(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Linear interpolation of two quaternions.
glm::axis
GLM_FUNC_DECL tvec3< T, P > axis(tquat< T, P > const &x)
Returns the q rotation axis.
glm
Definition: _noise.hpp:40
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::length
GLM_FUNC_DECL T length(tquat< T, P > const &q)
Returns the length of the quaternion.
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::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::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::angle
GLM_FUNC_DECL T angle(tquat< T, P > const &x)
Returns the quaternion rotation angle.
glm::normalize
GLM_FUNC_DECL tquat< T, P > normalize(tquat< T, P > const &q)
Returns the normalized quaternion.
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::yaw
GLM_FUNC_DECL T yaw(tquat< T, P > const &x)
Returns yaw value of euler angles expressed in radians.
glm::slerp
GLM_FUNC_DECL tquat< T, P > slerp(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Spherical linear interpolation of two quaternions.
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::mix
GLM_FUNC_DECL tquat< T, P > mix(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::inverse
GLM_FUNC_DECL tquat< T, P > inverse(tquat< T, P > const &q)
Returns the q inverse.
glm::roll
GLM_FUNC_DECL T roll(tquat< T, P > const &x)
Returns roll value of euler angles expressed in radians.
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::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.