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///////////////////////////////////////////////////////////////////////////////////////////////////
// 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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