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Diffstat (limited to 'inc/glm/gtc/quaternion.hpp')
| -rw-r--r-- | inc/glm/gtc/quaternion.hpp | 377 |
1 files changed, 377 insertions, 0 deletions
diff --git a/inc/glm/gtc/quaternion.hpp b/inc/glm/gtc/quaternion.hpp new file mode 100644 index 0000000..8a81f5d --- /dev/null +++ b/inc/glm/gtc/quaternion.hpp @@ -0,0 +1,377 @@ +///////////////////////////////////////////////////////////////////////////////////
+/// OpenGL Mathematics (glm.g-truc.net)
+///
+/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
+/// Permission is hereby granted, free of charge, to any person obtaining a copy
+/// of this software and associated documentation files (the "Software"), to deal
+/// in the Software without restriction, including without limitation the rights
+/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+/// copies of the Software, and to permit persons to whom the Software is
+/// furnished to do so, subject to the following conditions:
+///
+/// The above copyright notice and this permission notice shall be included in
+/// all copies or substantial portions of the Software.
+///
+/// Restrictions:
+/// By making use of the Software for military purposes, you choose to make
+/// a Bunny unhappy.
+///
+/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+/// THE SOFTWARE.
+///
+/// @ref gtc_quaternion
+/// @file glm/gtc/quaternion.hpp
+/// @date 2009-05-21 / 2012-12-20
+/// @author Christophe Riccio
+///
+/// @see core (dependence)
+/// @see gtc_half_float (dependence)
+/// @see gtc_constants (dependence)
+///
+/// @defgroup gtc_quaternion GLM_GTC_quaternion
+/// @ingroup gtc
+///
+/// @brief Defines a templated quaternion type and several quaternion operations.
+///
+/// <glm/gtc/quaternion.hpp> need to be included to use these functionalities.
+///////////////////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+// Dependency:
+#include "../mat3x3.hpp"
+#include "../mat4x4.hpp"
+#include "../vec3.hpp"
+#include "../vec4.hpp"
+#include "../gtc/constants.hpp"
+
+#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
+# pragma message("GLM: GLM_GTC_quaternion extension included")
+#endif
+
+namespace glm
+{
+ /// @addtogroup gtc_quaternion
+ /// @{
+
+ template <typename T, precision P>
+ struct tquat
+ {
+ typedef tquat<T, P> type;
+ typedef T value_type;
+
+ public:
+ T x, y, z, w;
+
+ //////////////////////////////////////
+ // Component accesses
+
+# ifdef GLM_FORCE_SIZE_FUNC
+ typedef size_t size_type;
+ /// Return the count of components of a quaternion
+ GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const;
+
+ GLM_FUNC_DECL T & operator[](size_type i);
+ GLM_FUNC_DECL T const & operator[](size_type i) const;
+# else
+ typedef length_t length_type;
+ /// Return the count of components of a quaternion
+ GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const;
+
+ GLM_FUNC_DECL T & operator[](length_type i);
+ GLM_FUNC_DECL T const & operator[](length_type i) const;
+# endif//GLM_FORCE_SIZE_FUNC
+
+ //////////////////////////////////////
+ // Implicit basic constructors
+
+ GLM_FUNC_DECL tquat();
+ GLM_FUNC_DECL tquat(tquat<T, P> const & q);
+ template <precision Q>
+ GLM_FUNC_DECL tquat(tquat<T, Q> const & q);
+
+ //////////////////////////////////////
+ // Explicit basic constructors
+
+ GLM_FUNC_DECL explicit tquat(ctor);
+ GLM_FUNC_DECL explicit tquat(T const & s, tvec3<T, P> const & v);
+ GLM_FUNC_DECL tquat(T const & w, T const & x, T const & y, T const & z);
+
+ //////////////////////////////////////
+ // Convertions
+
+# ifdef GLM_FORCE_EXPLICIT_CTOR
+ template <typename U, precision Q>
+ GLM_FUNC_DECL explicit tquat(tquat<U, Q> const & q);
+# else
+ template <typename U, precision Q>
+ GLM_FUNC_DECL tquat(tquat<U, Q> const & q);
+# endif
+
+ // explicit conversion operators
+# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
+ GLM_FUNC_DECL explicit operator tmat3x3<T, P>();
+ GLM_FUNC_DECL explicit operator tmat4x4<T, P>();
+# endif
+
+ /// Create a quaternion from two normalized axis
+ ///
+ /// @param u A first normalized axis
+ /// @param v A second normalized axis
+ /// @see gtc_quaternion
+ /// @see http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors
+ GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & u, tvec3<T, P> const & v);
+
+ /// Build a quaternion from euler angles (pitch, yaw, roll), in radians.
+ GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & eulerAngles);
+ GLM_FUNC_DECL explicit tquat(tmat3x3<T, P> const & m);
+ GLM_FUNC_DECL explicit tquat(tmat4x4<T, P> const & m);
+
+ //////////////////////////////////////
+ // Operators
+
+ GLM_FUNC_DECL tquat<T, P> & operator=(tquat<T, P> const & m);
+
+ template <typename U>
+ GLM_FUNC_DECL tquat<T, P> & operator=(tquat<U, P> const & m);
+ template <typename U>
+ GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<U, P> const & q);
+ template <typename U>
+ GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<U, P> const & q);
+ template <typename U>
+ GLM_FUNC_DECL tquat<T, P> & operator*=(U s);
+ template <typename U>
+ GLM_FUNC_DECL tquat<T, P> & operator/=(U s);
+ };
+
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q);
+
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p);
+
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p);
+
+ template <typename T, precision P>
+ GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v);
+
+ template <typename T, precision P>
+ GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q);
+
+ template <typename T, precision P>
+ GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v);
+
+ template <typename T, precision P>
+ GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q);
+
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s);
+
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q);
+
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s);
+
+ /// Returns the length of the quaternion.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL T length(tquat<T, P> const & q);
+
+ /// Returns the normalized quaternion.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q);
+
+ /// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P, template <typename, precision> class quatType>
+ GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y);
+
+ /// Spherical linear interpolation of two quaternions.
+ /// The interpolation is oriented and the rotation is performed at constant speed.
+ /// For short path spherical linear interpolation, use the slerp function.
+ ///
+ /// @param x A quaternion
+ /// @param y A quaternion
+ /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
+ /// @tparam T Value type used to build the quaternion. Supported: half, float or double.
+ /// @see gtc_quaternion
+ /// @see - slerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a)
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T a);
+
+ /// Linear interpolation of two quaternions.
+ /// The interpolation is oriented.
+ ///
+ /// @param x A quaternion
+ /// @param y A quaternion
+ /// @param a Interpolation factor. The interpolation is defined in the range [0, 1].
+ /// @tparam T Value type used to build the quaternion. Supported: half, float or double.
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
+
+ /// Spherical linear interpolation of two quaternions.
+ /// The interpolation always take the short path and the rotation is performed at constant speed.
+ ///
+ /// @param x A quaternion
+ /// @param y A quaternion
+ /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
+ /// @tparam T Value type used to build the quaternion. Supported: half, float or double.
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
+
+ /// Returns the q conjugate.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q);
+
+ /// Returns the q inverse.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q);
+
+ /// Rotates a quaternion from a vector of 3 components axis and an angle.
+ ///
+ /// @param q Source orientation
+ /// @param angle Angle expressed in radians.
+ /// @param axis Axis of the rotation
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis);
+
+ /// Returns euler angles, yitch as x, yaw as y, roll as z.
+ /// The result is expressed in radians if GLM_FORCE_RADIANS is defined or degrees otherwise.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x);
+
+ /// Returns roll value of euler angles expressed in radians.
+ ///
+ /// @see gtx_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL T roll(tquat<T, P> const & x);
+
+ /// Returns pitch value of euler angles expressed in radians.
+ ///
+ /// @see gtx_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL T pitch(tquat<T, P> const & x);
+
+ /// Returns yaw value of euler angles expressed in radians.
+ ///
+ /// @see gtx_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL T yaw(tquat<T, P> const & x);
+
+ /// Converts a quaternion to a 3 * 3 matrix.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x);
+
+ /// Converts a quaternion to a 4 * 4 matrix.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x);
+
+ /// Converts a 3 * 3 matrix to a quaternion.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x);
+
+ /// Converts a 4 * 4 matrix to a quaternion.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x);
+
+ /// Returns the quaternion rotation angle.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL T angle(tquat<T, P> const & x);
+
+ /// Returns the q rotation axis.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x);
+
+ /// Build a quaternion from an angle and a normalized axis.
+ ///
+ /// @param angle Angle expressed in radians.
+ /// @param axis Axis of the quaternion, must be normalized.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis);
+
+ /// Returns the component-wise comparison result of x < y.
+ ///
+ /// @tparam quatType Floating-point quaternion types.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y);
+
+ /// Returns the component-wise comparison of result x <= y.
+ ///
+ /// @tparam quatType Floating-point quaternion types.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ 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.
+ ///
+ /// @tparam quatType Floating-point quaternion types.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ 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.
+ ///
+ /// @tparam quatType Floating-point quaternion types.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ 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.
+ ///
+ /// @tparam quatType Floating-point quaternion types.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ 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.
+ ///
+ /// @tparam quatType Floating-point quaternion types.
+ ///
+ /// @see gtc_quaternion
+ template <typename T, precision P>
+ GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y);
+ /// @}
+} //namespace glm
+
+#include "quaternion.inl"
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