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Diffstat (limited to 'src/glm/gtx/quaternion.hpp')
| -rw-r--r-- | src/glm/gtx/quaternion.hpp | 217 |
1 files changed, 217 insertions, 0 deletions
diff --git a/src/glm/gtx/quaternion.hpp b/src/glm/gtx/quaternion.hpp new file mode 100644 index 0000000..97271e0 --- /dev/null +++ b/src/glm/gtx/quaternion.hpp @@ -0,0 +1,217 @@ +///////////////////////////////////////////////////////////////////////////////////////////////////
+// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// Created : 2005-12-21
+// Updated : 2009-05-21
+// Licence : This source is under MIT License
+// File : glm/gtx/quaternion.hpp
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// Dependency:
+// - GLM core
+///////////////////////////////////////////////////////////////////////////////////////////////////
+// ToDo:
+// - Study constructors with angles and axis
+// - Study constructors with vec3 that are the imaginary component of quaternion
+///////////////////////////////////////////////////////////////////////////////////////////////////
+
+#ifndef glm_gtx_quaternion
+#define glm_gtx_quaternion
+
+// Dependency:
+#include "../glm.hpp"
+#include "../gtc/quaternion.hpp"
+
+#if(defined(GLM_MESSAGES) && !defined(glm_ext))
+# pragma message("GLM: GLM_GTX_quaternion extension included")
+#endif
+
+namespace glm{
+namespace gtx{
+namespace quaternion ///< GLM_GTX_quaternion extension: Quaternion types and functions
+{
+ using namespace gtc::quaternion;
+
+ /// \addtogroup gtx_quaternion
+ ///@{
+
+ //! Compute a cross product between a quaternion and a vector.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tvec3<valType> cross(
+ detail::tquat<valType> const & q,
+ detail::tvec3<valType> const & v);
+
+ //! Compute a cross product between a vector and a quaternion.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tvec3<valType> cross(
+ detail::tvec3<valType> const & v,
+ detail::tquat<valType> const & q);
+
+ //! Compute a point on a path according squad equation.
+ //! q1 and q2 are control points; s1 and s2 are intermediate control points.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tquat<valType> squad(
+ detail::tquat<valType> const & q1,
+ detail::tquat<valType> const & q2,
+ detail::tquat<valType> const & s1,
+ detail::tquat<valType> const & s2,
+ valType const & h);
+
+ //! Returns an intermediate control point for squad interpolation.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tquat<valType> intermediate(
+ detail::tquat<valType> const & prev,
+ detail::tquat<valType> const & curr,
+ detail::tquat<valType> const & next);
+
+ //! Returns a exp of a quaternion.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tquat<valType> exp(
+ detail::tquat<valType> const & q,
+ valType const & exponent);
+
+ //! Returns a log of a quaternion.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tquat<valType> log(
+ detail::tquat<valType> const & q);
+
+ //! Returns x raised to the y power.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tquat<valType> pow(
+ detail::tquat<valType> const & x,
+ valType const & y);
+
+ //! Returns quarternion square root.
+ //! From GLM_GTX_quaternion extension.
+ //template <typename valType>
+ //detail::tquat<valType> sqrt(
+ // detail::tquat<valType> const & q);
+
+ //! Rotates a 3 components vector by a quaternion.
+ //! From GLM_GTX_transform extension.
+ template <typename valType>
+ detail::tvec3<valType> rotate(
+ detail::tquat<valType> const & q,
+ detail::tvec3<valType> const & v);
+
+ //! Rotates a 4 components vector by a quaternion.
+ //! From GLM_GTX_transform extension.
+ template <typename valType>
+ detail::tvec4<valType> rotate(
+ detail::tquat<valType> const & q,
+ detail::tvec4<valType> const & v);
+
+ //! Returns the quaternion rotation angle.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ valType angle(
+ detail::tquat<valType> const & x);
+
+ //! Returns the q rotation axis.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tvec3<valType> axis(
+ detail::tquat<valType> const & x);
+
+ //! Build a quaternion from an angle and a normalized axis.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tquat<valType> angleAxis(
+ valType const & angle,
+ valType const & x,
+ valType const & y,
+ valType const & z);
+
+ //! Build a quaternion from an angle and a normalized axis.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tquat<valType> angleAxis(
+ valType const & angle,
+ detail::tvec3<valType> const & axis);
+
+ //! Extract the real component of a quaternion.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ valType extractRealComponent(
+ detail::tquat<valType> const & q);
+
+ //! Returns roll value of euler angles.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ valType roll(
+ detail::tquat<valType> const & x);
+
+ //! Returns pitch value of euler angles.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ valType pitch(
+ detail::tquat<valType> const & x);
+
+ //! Returns yaw value of euler angles.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ valType yaw(
+ detail::tquat<valType> const & x);
+
+ //! Returns euler angles, yitch as x, yaw as y, roll as z.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tvec3<valType> eularAngles(
+ detail::tquat<valType> const & x);
+
+ //! Converts a quaternion to a 3 * 3 matrix.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tmat3x3<valType> toMat3(
+ detail::tquat<valType> const & x){return gtc::quaternion::mat3_cast(x);}
+
+ //! Converts a quaternion to a 4 * 4 matrix.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tmat4x4<valType> toMat4(
+ detail::tquat<valType> const & x){return gtc::quaternion::mat4_cast(x);}
+
+ //! Converts a 3 * 3 matrix to a quaternion.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tquat<valType> toQuat(
+ detail::tmat3x3<valType> const & x){return gtc::quaternion::quat_cast(x);}
+
+ //! Converts a 4 * 4 matrix to a quaternion.
+ //! From GLM_GTX_quaternion extension.
+ template <typename valType>
+ detail::tquat<valType> toQuat(
+ detail::tmat4x4<valType> const & x){return gtc::quaternion::quat_cast(x);}
+
+ //! Quaternion interpolation using the rotation short path.
+ //! From GLM_GTX_quaternion extension.
+ template <typename T>
+ detail::tquat<T> shortMix(
+ detail::tquat<T> const & x,
+ detail::tquat<T> const & y,
+ T const & a);
+
+ //! Quaternion normalized linear interpolation.
+ //! From GLM_GTX_quaternion extension.
+ template <typename T>
+ detail::tquat<T> fastMix(
+ detail::tquat<T> const & x,
+ detail::tquat<T> const & y,
+ T const & a);
+
+ /// @}
+}//namespace quaternion
+}//namespace gtx
+} //namespace glm
+
+#include "quaternion.inl"
+
+namespace glm{using namespace gtx::quaternion;}
+
+#endif//glm_gtx_quaternion
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