0.9.9 API documenation
gtc/quaternion.hpp
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1 
14 #pragma once
15 
16 // Dependency:
17 #include "../mat3x3.hpp"
18 #include "../mat4x4.hpp"
19 #include "../vec3.hpp"
20 #include "../vec4.hpp"
21 #include "../gtc/constants.hpp"
22 
23 #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
24 # pragma message("GLM: GLM_GTC_quaternion extension included")
25 #endif
26 
27 namespace glm
28 {
31 
32  template<typename T, qualifier Q = defaultp>
33  struct tquat
34  {
35  // -- Implementation detail --
36 
37  typedef tquat<T, Q> type;
38  typedef T value_type;
39 
40  // -- Data --
41 
42 # if GLM_HAS_ALIGNED_TYPE
43 # if GLM_COMPILER & GLM_COMPILER_GCC
44 # pragma GCC diagnostic push
45 # pragma GCC diagnostic ignored "-Wpedantic"
46 # endif
47 # if GLM_COMPILER & GLM_COMPILER_CLANG
48 # pragma clang diagnostic push
49 # pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
50 # pragma clang diagnostic ignored "-Wnested-anon-types"
51 # endif
52 
53  union
54  {
55  struct { T x, y, z, w;};
56  typename detail::storage<T, sizeof(T) * 4, detail::is_aligned<Q>::value>::type data;
57  };
58 
59 # if GLM_COMPILER & GLM_COMPILER_CLANG
60 # pragma clang diagnostic pop
61 # endif
62 # if GLM_COMPILER & GLM_COMPILER_GCC
63 # pragma GCC diagnostic pop
64 # endif
65 # else
66  T x, y, z, w;
67 # endif
68 
69  // -- Component accesses --
70 
71  typedef length_t length_type;
73  GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 4;}
74 
75  GLM_FUNC_DECL T & operator[](length_type i);
76  GLM_FUNC_DECL T const& operator[](length_type i) const;
77 
78  // -- Implicit basic constructors --
79 
80  GLM_FUNC_DECL GLM_CONSTEXPR tquat() GLM_DEFAULT;
81  GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, Q> const& q) GLM_DEFAULT;
82  template<qualifier P>
83  GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, P> const& q);
84 
85  // -- Explicit basic constructors --
86 
87  GLM_FUNC_DECL GLM_CONSTEXPR tquat(T s, vec<3, T, Q> const& v);
88  GLM_FUNC_DECL GLM_CONSTEXPR tquat(T w, T x, T y, T z);
89 
90  // -- Conversion constructors --
91 
92  template<typename U, qualifier P>
93  GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tquat(tquat<U, P> const& q);
94 
96 # if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
97  GLM_FUNC_DECL explicit operator mat<3, 3, T, Q>();
98  GLM_FUNC_DECL explicit operator mat<4, 4, T, Q>();
99 # endif
100 
107  GLM_FUNC_DECL tquat(vec<3, T, Q> const& u, vec<3, T, Q> const& v);
108 
110  GLM_FUNC_DECL GLM_EXPLICIT tquat(vec<3, T, Q> const& eulerAngles);
111  GLM_FUNC_DECL GLM_EXPLICIT tquat(mat<3, 3, T, Q> const& q);
112  GLM_FUNC_DECL GLM_EXPLICIT tquat(mat<4, 4, T, Q> const& q);
113 
114  // -- Unary arithmetic operators --
115 
116  GLM_FUNC_DECL tquat<T, Q> & operator=(tquat<T, Q> const& q) GLM_DEFAULT;
117 
118  template<typename U>
119  GLM_FUNC_DECL tquat<T, Q> & operator=(tquat<U, Q> const& q);
120  template<typename U>
121  GLM_FUNC_DECL tquat<T, Q> & operator+=(tquat<U, Q> const& q);
122  template<typename U>
123  GLM_FUNC_DECL tquat<T, Q> & operator-=(tquat<U, Q> const& q);
124  template<typename U>
125  GLM_FUNC_DECL tquat<T, Q> & operator*=(tquat<U, Q> const& q);
126  template<typename U>
127  GLM_FUNC_DECL tquat<T, Q> & operator*=(U s);
128  template<typename U>
129  GLM_FUNC_DECL tquat<T, Q> & operator/=(U s);
130  };
131 
132  // -- Unary bit operators --
133 
134  template<typename T, qualifier Q>
135  GLM_FUNC_DECL tquat<T, Q> operator+(tquat<T, Q> const& q);
136 
137  template<typename T, qualifier Q>
138  GLM_FUNC_DECL tquat<T, Q> operator-(tquat<T, Q> const& q);
139 
140  // -- Binary operators --
141 
142  template<typename T, qualifier Q>
143  GLM_FUNC_DECL tquat<T, Q> operator+(tquat<T, Q> const& q, tquat<T, Q> const& p);
144 
145  template<typename T, qualifier Q>
146  GLM_FUNC_DECL tquat<T, Q> operator*(tquat<T, Q> const& q, tquat<T, Q> const& p);
147 
148  template<typename T, qualifier Q>
149  GLM_FUNC_DECL vec<3, T, Q> operator*(tquat<T, Q> const& q, vec<3, T, Q> const& v);
150 
151  template<typename T, qualifier Q>
152  GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, tquat<T, Q> const& q);
153 
154  template<typename T, qualifier Q>
155  GLM_FUNC_DECL vec<4, T, Q> operator*(tquat<T, Q> const& q, vec<4, T, Q> const& v);
156 
157  template<typename T, qualifier Q>
158  GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, tquat<T, Q> const& q);
159 
160  template<typename T, qualifier Q>
161  GLM_FUNC_DECL tquat<T, Q> operator*(tquat<T, Q> const& q, T const& s);
162 
163  template<typename T, qualifier Q>
164  GLM_FUNC_DECL tquat<T, Q> operator*(T const& s, tquat<T, Q> const& q);
165 
166  template<typename T, qualifier Q>
167  GLM_FUNC_DECL tquat<T, Q> operator/(tquat<T, Q> const& q, T const& s);
168 
169  // -- Boolean operators --
170 
171  template<typename T, qualifier Q>
172  GLM_FUNC_DECL bool operator==(tquat<T, Q> const& q1, tquat<T, Q> const& q2);
173 
174  template<typename T, qualifier Q>
175  GLM_FUNC_DECL bool operator!=(tquat<T, Q> const& q1, tquat<T, Q> const& q2);
176 
182  template<typename T, qualifier Q>
183  GLM_FUNC_DECL T length(tquat<T, Q> const& q);
184 
190  template<typename T, qualifier Q>
191  GLM_FUNC_DECL tquat<T, Q> normalize(tquat<T, Q> const& q);
192 
198  template<typename T, qualifier Q>
199  GLM_FUNC_DECL T dot(tquat<T, Q> const& x, tquat<T, Q> const& y);
200 
212  template<typename T, qualifier Q>
213  GLM_FUNC_DECL tquat<T, Q> mix(tquat<T, Q> const& x, tquat<T, Q> const& y, T a);
214 
224  template<typename T, qualifier Q>
225  GLM_FUNC_DECL tquat<T, Q> lerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T a);
226 
236  template<typename T, qualifier Q>
237  GLM_FUNC_DECL tquat<T, Q> slerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T a);
238 
244  template<typename T, qualifier Q>
245  GLM_FUNC_DECL tquat<T, Q> conjugate(tquat<T, Q> const& q);
246 
252  template<typename T, qualifier Q>
253  GLM_FUNC_DECL tquat<T, Q> inverse(tquat<T, Q> const& q);
254 
263  template<typename T, qualifier Q>
264  GLM_FUNC_DECL tquat<T, Q> rotate(tquat<T, Q> const& q, T const& angle, vec<3, T, Q> const& axis);
265 
272  template<typename T, qualifier Q>
273  GLM_FUNC_DECL vec<3, T, Q> eulerAngles(tquat<T, Q> const& x);
274 
280  template<typename T, qualifier Q>
281  GLM_FUNC_DECL T roll(tquat<T, Q> const& x);
282 
288  template<typename T, qualifier Q>
289  GLM_FUNC_DECL T pitch(tquat<T, Q> const& x);
290 
296  template<typename T, qualifier Q>
297  GLM_FUNC_DECL T yaw(tquat<T, Q> const& x);
298 
304  template<typename T, qualifier Q>
305  GLM_FUNC_DECL mat<3, 3, T, Q> mat3_cast(tquat<T, Q> const& x);
306 
312  template<typename T, qualifier Q>
313  GLM_FUNC_DECL mat<4, 4, T, Q> mat4_cast(tquat<T, Q> const& x);
314 
320  template<typename T, qualifier Q>
321  GLM_FUNC_DECL tquat<T, Q> quat_cast(mat<3, 3, T, Q> const& x);
322 
328  template<typename T, qualifier Q>
329  GLM_FUNC_DECL tquat<T, Q> quat_cast(mat<4, 4, T, Q> const& x);
330 
336  template<typename T, qualifier Q>
337  GLM_FUNC_DECL T angle(tquat<T, Q> const& x);
338 
344  template<typename T, qualifier Q>
345  GLM_FUNC_DECL vec<3, T, Q> axis(tquat<T, Q> const& x);
346 
354  template<typename T, qualifier Q>
355  GLM_FUNC_DECL tquat<T, Q> angleAxis(T const& angle, vec<3, T, Q> const& axis);
356 
362  template<typename T, qualifier Q>
363  GLM_FUNC_DECL vec<4, bool, Q> lessThan(tquat<T, Q> const& x, tquat<T, Q> const& y);
364 
370  template<typename T, qualifier Q>
371  GLM_FUNC_DECL vec<4, bool, Q> lessThanEqual(tquat<T, Q> const& x, tquat<T, Q> const& y);
372 
378  template<typename T, qualifier Q>
379  GLM_FUNC_DECL vec<4, bool, Q> greaterThan(tquat<T, Q> const& x, tquat<T, Q> const& y);
380 
386  template<typename T, qualifier Q>
387  GLM_FUNC_DECL vec<4, bool, Q> greaterThanEqual(tquat<T, Q> const& x, tquat<T, Q> const& y);
388 
394  template<typename T, qualifier Q>
395  GLM_FUNC_DECL vec<4, bool, Q> equal(tquat<T, Q> const& x, tquat<T, Q> const& y);
396 
402  template<typename T, qualifier Q>
403  GLM_FUNC_DECL vec<4, bool, Q> notEqual(tquat<T, Q> const& x, tquat<T, Q> const& y);
404 
416  template<typename T, qualifier Q>
417  GLM_FUNC_DECL vec<4, bool, Q> isnan(tquat<T, Q> const& x);
418 
428  template<typename T, qualifier Q>
429  GLM_FUNC_DECL vec<4, bool, Q> isinf(tquat<T, Q> const& x);
430 
432 } //namespace glm
433 
434 #include "quaternion.inl"
glm::mat3_cast
GLM_FUNC_DECL mat< 3, 3, T, Q > mat3_cast(tquat< T, Q > const &x)
Converts a quaternion to a 3 * 3 matrix.
glm
Definition: common.hpp:20
glm::inverse
GLM_FUNC_DECL tquat< T, Q > inverse(tquat< T, Q > const &q)
Returns the q inverse.
glm::notEqual
GLM_FUNC_DECL vec< 4, bool, Q > notEqual(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x != y.
glm::mat4_cast
GLM_FUNC_DECL mat< 4, 4, T, Q > mat4_cast(tquat< T, Q > const &x)
Converts a quaternion to a 4 * 4 matrix.
glm::lessThan
GLM_FUNC_DECL vec< 4, bool, Q > lessThan(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison result of x < y.
glm::lerp
GLM_FUNC_DECL tquat< T, Q > lerp(tquat< T, Q > const &x, tquat< T, Q > const &y, T a)
Linear interpolation of two quaternions.
glm::axis
GLM_FUNC_DECL vec< 3, T, Q > axis(tquat< T, Q > const &x)
Returns the q rotation axis.
glm::angleAxis
GLM_FUNC_DECL tquat< T, Q > angleAxis(T const &angle, vec< 3, T, Q > const &axis)
Build a quaternion from an angle and a normalized axis.
glm::normalize
GLM_FUNC_DECL tquat< T, Q > normalize(tquat< T, Q > const &q)
Returns the normalized quaternion.
glm::angle
GLM_FUNC_DECL T angle(tquat< T, Q > const &x)
Returns the quaternion rotation angle.
glm::greaterThanEqual
GLM_FUNC_DECL vec< 4, bool, Q > greaterThanEqual(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x >= y.
glm::isinf
GLM_FUNC_DECL vec< 4, bool, Q > isinf(tquat< T, Q > const &x)
Returns true if x holds a positive infinity or negative infinity representation in the underlying imp...
glm::conjugate
GLM_FUNC_DECL tquat< T, Q > conjugate(tquat< T, Q > const &q)
Returns the q conjugate.
glm::quat_cast
GLM_FUNC_DECL tquat< T, Q > quat_cast(mat< 4, 4, T, Q > const &x)
Converts a 4 * 4 matrix to a quaternion.
glm::greaterThan
GLM_FUNC_DECL vec< 4, bool, Q > greaterThan(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x > y.
glm::pitch
GLM_FUNC_DECL T pitch(tquat< T, Q > const &x)
Returns pitch value of euler angles expressed in radians.
glm::rotate
GLM_FUNC_DECL tquat< T, Q > rotate(tquat< T, Q > const &q, T const &angle, vec< 3, T, Q > const &axis)
Rotates a quaternion from a vector of 3 components axis and an angle.
glm::eulerAngles
GLM_FUNC_DECL vec< 3, T, Q > eulerAngles(tquat< T, Q > const &x)
Returns euler angles, pitch as x, yaw as y, roll as z.
glm::yaw
GLM_FUNC_DECL T yaw(tquat< T, Q > const &x)
Returns yaw value of euler angles expressed in radians.
glm::length
GLM_FUNC_DECL T length(tquat< T, Q > const &q)
Returns the length of the quaternion.
glm::equal
GLM_FUNC_DECL vec< 4, bool, Q > equal(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x == y.
glm::mix
GLM_FUNC_DECL tquat< T, Q > mix(tquat< T, Q > const &x, tquat< T, Q > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::lessThanEqual
GLM_FUNC_DECL vec< 4, bool, Q > lessThanEqual(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns the component-wise comparison of result x <= y.
glm::dot
GLM_FUNC_DECL T dot(tquat< T, Q > const &x, tquat< T, Q > const &y)
Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
glm::slerp
GLM_FUNC_DECL tquat< T, Q > slerp(tquat< T, Q > const &x, tquat< T, Q > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::isnan
GLM_FUNC_DECL vec< 4, bool, Q > isnan(tquat< T, Q > const &x)
Returns true if x holds a NaN (not a number) representation in the underlying implementation's set of...
glm::roll
GLM_FUNC_DECL T roll(tquat< T, Q > const &x)
Returns roll value of euler angles expressed in radians.
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