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