| /////////////////////////////////////////////////////////////////////////////////// |
| /// OpenGL Mathematics (glm.g-truc.net) |
| /// |
| /// Copyright (c) 2005 - 2014 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. |
| /// |
| /// 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. |
| /////////////////////////////////////////////////////////////////////////////////// |
| |
| #ifndef GLM_GTX_quaternion |
| #define GLM_GTX_quaternion |
| |
| // 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 detail::tvec3<T, P> cross( |
| detail::tquat<T, P> const & q, |
| detail::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 detail::tvec3<T, P> cross( |
| detail::tvec3<T, P> const & v, |
| detail::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 detail::tquat<T, P> squad( |
| detail::tquat<T, P> const & q1, |
| detail::tquat<T, P> const & q2, |
| detail::tquat<T, P> const & s1, |
| detail::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 detail::tquat<T, P> intermediate( |
| detail::tquat<T, P> const & prev, |
| detail::tquat<T, P> const & curr, |
| detail::tquat<T, P> const & next); |
| |
| //! Returns a exp of a quaternion. |
| /// |
| /// @see gtx_quaternion |
| template<typename T, precision P> |
| GLM_FUNC_DECL detail::tquat<T, P> exp( |
| detail::tquat<T, P> const & q); |
| |
| //! Returns a log of a quaternion. |
| /// |
| /// @see gtx_quaternion |
| template<typename T, precision P> |
| GLM_FUNC_DECL detail::tquat<T, P> log( |
| detail::tquat<T, P> const & q); |
| |
| /// Returns x raised to the y power. |
| /// |
| /// @see gtx_quaternion |
| template<typename T, precision P> |
| GLM_FUNC_DECL detail::tquat<T, P> pow( |
| detail::tquat<T, P> const & x, |
| T const & y); |
| |
| //! Returns quarternion square root. |
| /// |
| /// @see gtx_quaternion |
| //template<typename T, precision P> |
| //detail::tquat<T, P> sqrt( |
| // detail::tquat<T, P> const & q); |
| |
| //! Rotates a 3 components vector by a quaternion. |
| /// |
| /// @see gtx_quaternion |
| template<typename T, precision P> |
| GLM_FUNC_DECL detail::tvec3<T, P> rotate( |
| detail::tquat<T, P> const & q, |
| detail::tvec3<T, P> const & v); |
| |
| /// Rotates a 4 components vector by a quaternion. |
| /// |
| /// @see gtx_quaternion |
| template<typename T, precision P> |
| GLM_FUNC_DECL detail::tvec4<T, P> rotate( |
| detail::tquat<T, P> const & q, |
| detail::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( |
| detail::tquat<T, P> const & q); |
| |
| /// Converts a quaternion to a 3 * 3 matrix. |
| /// |
| /// @see gtx_quaternion |
| template<typename T, precision P> |
| GLM_FUNC_DECL detail::tmat3x3<T, P> toMat3( |
| detail::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 detail::tmat4x4<T, P> toMat4( |
| detail::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 detail::tquat<T, P> toQuat( |
| detail::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 detail::tquat<T, P> toQuat( |
| detail::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 detail::tquat<T, P> shortMix( |
| detail::tquat<T, P> const & x, |
| detail::tquat<T, P> const & y, |
| T const & a); |
| |
| /// Quaternion normalized linear interpolation. |
| /// |
| /// @see gtx_quaternion |
| template<typename T, precision P> |
| GLM_FUNC_DECL detail::tquat<T, P> fastMix( |
| detail::tquat<T, P> const & x, |
| detail::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 detail::tquat<T, P> rotation( |
| detail::tvec3<T, P> const & orig, |
| detail::tvec3<T, P> const & dest); |
| |
| /// Returns the squared length of x. |
| /// |
| /// @see gtx_quaternion |
| template<typename T, precision P> |
| GLM_FUNC_DECL T length2(detail::tquat<T, P> const & q); |
| |
| /// @} |
| }//namespace glm |
| |
| #include "quaternion.inl" |
| |
| #endif//GLM_GTX_quaternion |