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Diffstat (limited to 'src/glm/gtc/quaternion.hpp')
| -rw-r--r-- | src/glm/gtc/quaternion.hpp | 245 |
1 files changed, 245 insertions, 0 deletions
diff --git a/src/glm/gtc/quaternion.hpp b/src/glm/gtc/quaternion.hpp new file mode 100644 index 0000000..4fc8ca3 --- /dev/null +++ b/src/glm/gtc/quaternion.hpp @@ -0,0 +1,245 @@ +///////////////////////////////////////////////////////////////////////////////////////////////////
+// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// Created : 2009-05-21
+// Updated : 2010-02-04
+// Licence : This source is under MIT License
+// File : glm/gtc/quaternion.hpp
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// Dependency:
+// - GLM core
+// - GLM_GTC_half_float
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// ToDo:
+// - Study constructors with angles and axis
+// - Study constructors with vec3 that are the imaginary component of quaternion
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+#ifndef glm_gtc_quaternion
+#define glm_gtc_quaternion
+
+// Dependency:
+#include "../glm.hpp"
+#include "../gtc/half_float.hpp"
+
+#if(defined(GLM_MESSAGES) && !defined(glm_ext))
+# pragma message("GLM: GLM_GTC_quaternion extension included")
+#endif
+
+namespace glm{
+namespace detail
+{
+ //! \brief Template for quaternion.
+ //! From GLM_GTC_quaternion extension.
+ /// \ingroup gtc_quaternion
+ template <typename T>
+ struct tquat// : public genType<T, tquat>
+ {
+ typedef T value_type;
+
+ public:
+ value_type x, y, z, w;
+
+ // Constructors
+ tquat();
+ explicit tquat(
+ value_type const & s,
+ tvec3<T> const & v);
+ explicit tquat(
+ value_type const & w,
+ value_type const & x,
+ value_type const & y,
+ value_type const & z);
+
+ // Convertions
+ //explicit tquat(valType const & pitch, valType const & yaw, valType const & roll);
+ //! pitch, yaw, roll
+ explicit tquat(
+ tvec3<T> const & eulerAngles);
+ explicit tquat(
+ tmat3x3<T> const & m);
+ explicit tquat(
+ tmat4x4<T> const & m);
+
+ // Accesses
+ value_type & operator[](int i);
+ value_type const & operator[](int i) const;
+
+ // Operators
+ tquat<T> & operator*=(value_type const & s);
+ tquat<T> & operator/=(value_type const & s);
+ };
+
+ template <typename T>
+ detail::tquat<T> operator- (
+ detail::tquat<T> const & q);
+
+ template <typename T>
+ detail::tquat<T> operator+ (
+ detail::tquat<T> const & q,
+ detail::tquat<T> const & p);
+
+ template <typename T>
+ detail::tquat<T> operator* (
+ detail::tquat<T> const & q,
+ detail::tquat<T> const & p);
+
+ template <typename T>
+ detail::tvec3<T> operator* (
+ detail::tquat<T> const & q,
+ detail::tvec3<T> const & v);
+
+ template <typename T>
+ detail::tvec3<T> operator* (
+ detail::tvec3<T> const & v,
+ detail::tquat<T> const & q);
+
+ template <typename T>
+ detail::tvec4<T> operator* (
+ detail::tquat<T> const & q,
+ detail::tvec4<T> const & v);
+
+ template <typename T>
+ detail::tvec4<T> operator* (
+ detail::tvec4<T> const & v,
+ detail::tquat<T> const & q);
+
+ template <typename T>
+ detail::tquat<T> operator* (
+ detail::tquat<T> const & q,
+ typename detail::tquat<T>::value_type const & s);
+
+ template <typename T>
+ detail::tquat<T> operator* (
+ typename detail::tquat<T>::value_type const & s,
+ detail::tquat<T> const & q);
+
+ template <typename T>
+ detail::tquat<T> operator/ (
+ detail::tquat<T> const & q,
+ typename detail::tquat<T>::value_type const & s);
+
+} //namespace detail
+
+namespace gtc{
+namespace quaternion ///< GLM_GTC_quaternion extension: Quaternion types and functions
+{
+ /// \addtogroup gtc_quaternion
+ ///@{
+
+ //! Returns the length of the quaternion.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ typename detail::tquat<T>::value_type length(
+ detail::tquat<T> const & q);
+
+ //! Returns the normalized quaternion.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ detail::tquat<T> normalize(
+ detail::tquat<T> const & q);
+
+ //! Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ typename detail::tquat<T>::value_type dot(
+ detail::tquat<T> const & q1,
+ detail::tquat<T> const & q2);
+
+ //! Returns the cross product of q1 and q2.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ GLM_DEPRECATED detail::tquat<T> cross(
+ detail::tquat<T> const & q1,
+ detail::tquat<T> const & q2);
+
+ //! Returns a SLERP interpolated quaternion of x and y according a.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ detail::tquat<T> mix(
+ detail::tquat<T> const & x,
+ detail::tquat<T> const & y,
+ T const & a);
+
+ //! Returns the q conjugate.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ detail::tquat<T> conjugate(
+ detail::tquat<T> const & q);
+
+ //! Returns the q inverse.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ detail::tquat<T> inverse(
+ detail::tquat<T> const & q);
+
+ //! Rotates a quaternion from an vector of 3 components axis and an angle expressed in degrees.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ detail::tquat<T> rotate(
+ detail::tquat<T> const & q,
+ typename detail::tquat<T>::value_type const & angle,
+ detail::tvec3<T> const & v);
+
+ //! Converts a quaternion to a 3 * 3 matrix.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ detail::tmat3x3<T> mat3_cast(
+ detail::tquat<T> const & x);
+
+ //! Converts a quaternion to a 4 * 4 matrix.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ detail::tmat4x4<T> mat4_cast(
+ detail::tquat<T> const & x);
+
+ //! Converts a 3 * 3 matrix to a quaternion.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ detail::tquat<T> quat_cast(
+ detail::tmat3x3<T> const & x);
+
+ //! Converts a 4 * 4 matrix to a quaternion.
+ //! From GLM_GTC_quaternion extension.
+ template <typename T>
+ detail::tquat<T> quat_cast(
+ detail::tmat4x4<T> const & x);
+
+ //! Quaternion of floating-point numbers.
+ //! From GLM_GTC_quaternion extension.
+ typedef detail::tquat<float> quat;
+
+ //! Quaternion of half-precision floating-point numbers.
+ //! From GLM_GTC_quaternion extension.
+ typedef detail::tquat<detail::thalf> hquat;
+
+ //! Quaternion of single-precision floating-point numbers.
+ //! From GLM_GTC_quaternion extension.
+ typedef detail::tquat<float> fquat;
+
+ //! Quaternion of double-precision floating-point numbers.
+ //! From GLM_GTC_quaternion extension.
+ typedef detail::tquat<double> dquat;
+
+ //! Quaternion of low precision floating-point numbers.
+ //! From GLM_GTC_quaternion extension.
+ typedef detail::tquat<lowp_float> lowp_quat;
+
+ //! Quaternion of medium precision floating-point numbers.
+ //! From GLM_GTC_quaternion extension.
+ typedef detail::tquat<mediump_float> mediump_quat;
+
+ //! Quaternion of high precision floating-point numbers.
+ //! From GLM_GTC_quaternion extension.
+ typedef detail::tquat<highp_float> highp_quat;
+ ///@}
+
+} //namespace quaternion
+} //namespace gtc
+} //namespace glm
+
+#include "quaternion.inl"
+
+namespace glm{using namespace gtc::quaternion;}
+
+#endif//glm_gtc_quaternion
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