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360 lines
12 KiB
360 lines
12 KiB
/////////////////////////////////////////////////////////////////////////////////// |
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/// OpenGL Mathematics (glm.g-truc.net) |
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/// |
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/// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net) |
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/// Permission is hereby granted, free of charge, to any person obtaining a copy |
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/// of this software and associated documentation files (the "Software"), to deal |
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/// in the Software without restriction, including without limitation the rights |
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
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/// copies of the Software, and to permit persons to whom the Software is |
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/// furnished to do so, subject to the following conditions: |
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/// |
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/// The above copyright notice and this permission notice shall be included in |
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/// all copies or substantial portions of the Software. |
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/// |
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/// Restrictions: |
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/// By making use of the Software for military purposes, you choose to make |
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/// a Bunny unhappy. |
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/// |
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
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/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
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/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
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/// THE SOFTWARE. |
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/// |
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/// @ref gtc_quaternion |
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/// @file glm/gtc/quaternion.hpp |
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/// @date 2009-05-21 / 2012-12-20 |
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/// @author Christophe Riccio |
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/// |
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/// @see core (dependence) |
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/// @see gtc_half_float (dependence) |
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/// @see gtc_constants (dependence) |
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/// |
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/// @defgroup gtc_quaternion GLM_GTC_quaternion |
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/// @ingroup gtc |
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/// |
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/// @brief Defines a templated quaternion type and several quaternion operations. |
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/// |
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/// <glm/gtc/quaternion.hpp> need to be included to use these functionalities. |
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/////////////////////////////////////////////////////////////////////////////////// |
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#pragma once |
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// Dependency: |
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#include "../mat3x3.hpp" |
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#include "../mat4x4.hpp" |
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#include "../vec3.hpp" |
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#include "../vec4.hpp" |
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#include "../gtc/constants.hpp" |
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#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED)) |
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# pragma message("GLM: GLM_GTC_quaternion extension included") |
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#endif |
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namespace glm |
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{ |
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/// @addtogroup gtc_quaternion |
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/// @{ |
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template <typename T, precision P> |
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struct tquat |
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{ |
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typedef T value_type; |
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typedef tvec4<bool, P> bool_type; |
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public: |
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T x, y, z, w; |
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#if GLM_FORCE_SIZE_FUNC |
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/// Return the count of components of a quaternion |
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GLM_FUNC_DECL GLM_CONSTEXPR size_t size() const; |
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#else |
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/// Return the count of components of a quaternion |
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GLM_FUNC_DECL GLM_CONSTEXPR length_t length() const; |
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#endif//GLM_FORCE_SIZE_FUNC |
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////////////////////////////////////// |
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// Accesses |
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GLM_FUNC_DECL T & operator[](length_t i); |
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GLM_FUNC_DECL T const & operator[](length_t i) const; |
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////////////////////////////////////// |
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// Implicit basic constructors |
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GLM_FUNC_DECL tquat(); |
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template <precision Q> |
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GLM_FUNC_DECL tquat(tquat<T, Q> const & q); |
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////////////////////////////////////// |
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// Explicit basic constructors |
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GLM_FUNC_DECL explicit tquat(ctor); |
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GLM_FUNC_DECL explicit tquat(T const & s, tvec3<T, P> const & v); |
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GLM_FUNC_DECL tquat(T const & w, T const & x, T const & y, T const & z); |
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////////////////////////////////////// |
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// Convertions |
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# ifdef GLM_FORCE_EXPLICIT_CTOR |
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template <typename U, precision Q> |
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GLM_FUNC_DECL explicit tquat(tquat<U, Q> const & q); |
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# else |
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template <typename U, precision Q> |
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GLM_FUNC_DECL tquat(tquat<U, Q> const & q); |
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# endif |
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// explicit conversion operators |
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GLM_FUNC_DECL explicit operator tmat3x3<T, P>(); |
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GLM_FUNC_DECL explicit operator tmat4x4<T, P>(); |
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/// Create a quaternion from two normalized axis |
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/// |
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/// @param u A first normalized axis |
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/// @param v A second normalized axis |
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/// @see gtc_quaternion |
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/// @see http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors |
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GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & u, tvec3<T, P> const & v); |
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/// Build a quaternion from euler angles (pitch, yaw, roll), in radians. |
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GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & eulerAngles); |
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GLM_FUNC_DECL explicit tquat(tmat3x3<T, P> const & m); |
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GLM_FUNC_DECL explicit tquat(tmat4x4<T, P> const & m); |
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////////////////////////////////////// |
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// Operators |
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GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<T, P> const & q); |
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GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<T, P> const & q); |
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GLM_FUNC_DECL tquat<T, P> & operator*=(T const & s); |
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GLM_FUNC_DECL tquat<T, P> & operator/=(T const & s); |
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}; |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s); |
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/// Returns the length of the quaternion. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL T length(tquat<T, P> const & q); |
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/// Returns the normalized quaternion. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q); |
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/// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ... |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P, template <typename, precision> class quatType> |
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GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y); |
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/// Spherical linear interpolation of two quaternions. |
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/// The interpolation is oriented and the rotation is performed at constant speed. |
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/// For short path spherical linear interpolation, use the slerp function. |
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/// |
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/// @param x A quaternion |
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/// @param y A quaternion |
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/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. |
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double. |
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/// @see gtc_quaternion |
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/// @see - slerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a) |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T const & a); |
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/// Linear interpolation of two quaternions. |
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/// The interpolation is oriented. |
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/// |
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/// @param x A quaternion |
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/// @param y A quaternion |
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/// @param a Interpolation factor. The interpolation is defined in the range [0, 1]. |
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double. |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a); |
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/// Spherical linear interpolation of two quaternions. |
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/// The interpolation always take the short path and the rotation is performed at constant speed. |
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/// |
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/// @param x A quaternion |
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/// @param y A quaternion |
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/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. |
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double. |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a); |
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/// Returns the q conjugate. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q); |
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/// Returns the q inverse. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q); |
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/// Rotates a quaternion from a vector of 3 components axis and an angle. |
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/// |
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/// @param q Source orientation |
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/// @param angle Angle expressed in radians. |
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/// @param axis Axis of the rotation |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis); |
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/// Returns euler angles, yitch as x, yaw as y, roll as z. |
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/// The result is expressed in radians if GLM_FORCE_RADIANS is defined or degrees otherwise. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x); |
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/// Returns roll value of euler angles expressed in radians. |
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/// |
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/// @see gtx_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL T roll(tquat<T, P> const & x); |
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/// Returns pitch value of euler angles expressed in radians. |
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/// |
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/// @see gtx_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL T pitch(tquat<T, P> const & x); |
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/// Returns yaw value of euler angles expressed in radians. |
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/// |
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/// @see gtx_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL T yaw(tquat<T, P> const & x); |
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/// Converts a quaternion to a 3 * 3 matrix. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x); |
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/// Converts a quaternion to a 4 * 4 matrix. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x); |
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/// Converts a 3 * 3 matrix to a quaternion. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x); |
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/// Converts a 4 * 4 matrix to a quaternion. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x); |
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/// Returns the quaternion rotation angle. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL T angle(tquat<T, P> const & x); |
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/// Returns the q rotation axis. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x); |
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/// Build a quaternion from an angle and a normalized axis. |
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/// |
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/// @param angle Angle expressed in radians. |
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/// @param axis Axis of the quaternion, must be normalized. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis); |
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/// Returns the component-wise comparison result of x < y. |
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/// |
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/// @tparam quatType Floating-point quaternion types. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y); |
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/// Returns the component-wise comparison of result x <= y. |
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/// |
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/// @tparam quatType Floating-point quaternion types. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y); |
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/// Returns the component-wise comparison of result x > y. |
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/// |
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/// @tparam quatType Floating-point quaternion types. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y); |
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/// Returns the component-wise comparison of result x >= y. |
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/// |
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/// @tparam quatType Floating-point quaternion types. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y); |
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/// Returns the component-wise comparison of result x == y. |
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/// |
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/// @tparam quatType Floating-point quaternion types. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y); |
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/// Returns the component-wise comparison of result x != y. |
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/// |
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/// @tparam quatType Floating-point quaternion types. |
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/// |
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/// @see gtc_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y); |
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/// @} |
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} //namespace glm |
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#include "quaternion.inl"
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