1 files changed, 214 insertions, 0 deletions
diff --git a/inc/glm/gtx/quaternion.hpp b/inc/glm/gtx/quaternion.hpp
new file mode 100644
index 0000000..96495d1
--- /dev/null
+++ b/inc/glm/gtx/quaternion.hpp
@@ -0,0 +1,214 @@
+///////////////////////////////////////////////////////////////////////////////////
+/// 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 gtx_quaternion
+/// @file glm/gtx/quaternion.hpp
+/// @date 2005-12-21 / 2011-06-07
+/// @author Christophe Riccio
+///
+/// @see core (dependence)
+/// @see gtx_extented_min_max (dependence)
+///
+/// @defgroup gtx_quaternion GLM_GTX_quaternion
+/// @ingroup gtx
+/// 
+/// @brief Extented quaternion types and functions
+/// 
+/// <glm/gtx/quaternion.hpp> need to be included to use these functionalities.
+///////////////////////////////////////////////////////////////////////////////////
+
+#pragma once
+
+// Dependency:
+#include "../glm.hpp"
+#include "../gtc/constants.hpp"
+#include "../gtc/quaternion.hpp"
+#include "../gtx/norm.hpp"
+
+#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
+#	pragma message("GLM: GLM_GTX_quaternion extension included")
+#endif
+
+namespace glm
+{
+	/// @addtogroup gtx_quaternion
+	/// @{
+
+	//! Compute a cross product between a quaternion and a vector.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tvec3<T, P> cross(
+		tquat<T, P> const & q,
+		tvec3<T, P> const & v);
+
+	//! Compute a cross product between a vector and a quaternion.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tvec3<T, P> cross(
+		tvec3<T, P> const & v,
+		tquat<T, P> const & q);
+
+	//! Compute a point on a path according squad equation. 
+	//! q1 and q2 are control points; s1 and s2 are intermediate control points.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tquat<T, P> squad(
+		tquat<T, P> const & q1,
+		tquat<T, P> const & q2,
+		tquat<T, P> const & s1,
+		tquat<T, P> const & s2,
+		T const & h);
+
+	//! Returns an intermediate control point for squad interpolation.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tquat<T, P> intermediate(
+		tquat<T, P> const & prev,
+		tquat<T, P> const & curr,
+		tquat<T, P> const & next);
+
+	//! Returns a exp of a quaternion.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tquat<T, P> exp(
+		tquat<T, P> const & q);
+
+	//! Returns a log of a quaternion.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tquat<T, P> log(
+		tquat<T, P> const & q);
+
+	/// Returns x raised to the y power.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tquat<T, P> pow(
+		tquat<T, P> const & x,
+		T const & y);
+
+	//! Returns quarternion square root.
+	///
+	/// @see gtx_quaternion
+	//template<typename T, precision P>
+	//tquat<T, P> sqrt(
+	//	tquat<T, P> const & q);
+
+	//! Rotates a 3 components vector by a quaternion.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tvec3<T, P> rotate(
+		tquat<T, P> const & q,
+		tvec3<T, P> const & v);
+
+	/// Rotates a 4 components vector by a quaternion.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tvec4<T, P> rotate(
+		tquat<T, P> const & q,
+		tvec4<T, P> const & v);
+
+	/// Extract the real component of a quaternion.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL T extractRealComponent(
+		tquat<T, P> const & q);
+
+	/// Converts a quaternion to a 3 * 3 matrix.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tmat3x3<T, P> toMat3(
+		tquat<T, P> const & x){return mat3_cast(x);}
+
+	/// Converts a quaternion to a 4 * 4 matrix.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tmat4x4<T, P> toMat4(
+		tquat<T, P> const & x){return mat4_cast(x);}
+
+	/// Converts a 3 * 3 matrix to a quaternion.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tquat<T, P> toQuat(
+		tmat3x3<T, P> const & x){return quat_cast(x);}
+
+	/// Converts a 4 * 4 matrix to a quaternion.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tquat<T, P> toQuat(
+		tmat4x4<T, P> const & x){return quat_cast(x);}
+
+	/// Quaternion interpolation using the rotation short path.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tquat<T, P> shortMix(
+		tquat<T, P> const & x,
+		tquat<T, P> const & y,
+		T const & a);
+
+	/// Quaternion normalized linear interpolation.
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tquat<T, P> fastMix(
+		tquat<T, P> const & x,
+		tquat<T, P> const & y,
+		T const & a);
+
+	/// Compute the rotation between two vectors.
+	/// param orig vector, needs to be normalized
+	/// param dest vector, needs to be normalized
+	///
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL tquat<T, P> rotation(
+		tvec3<T, P> const & orig, 
+		tvec3<T, P> const & dest);
+
+	/// Returns the squared length of x.
+	/// 
+	/// @see gtx_quaternion
+	template<typename T, precision P>
+	GLM_FUNC_DECL T length2(tquat<T, P> const & q);
+
+	/// @}
+}//namespace glm
+
+#include "quaternion.inl"