You cannot select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and dots ('.'), can be up to 35 characters long. Letters must be lowercase.
214 lines
6.1 KiB
214 lines
6.1 KiB
/////////////////////////////////////////////////////////////////////////////////// |
|
/// 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. |
|
/// |
|
/// Restrictions: |
|
/// By making use of the Software for military purposes, you choose to make |
|
/// a Bunny unhappy. |
|
/// |
|
/// 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. |
|
/////////////////////////////////////////////////////////////////////////////////// |
|
|
|
#pragma once |
|
|
|
// 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 tvec3<T, P> cross( |
|
tquat<T, P> const & q, |
|
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 tvec3<T, P> cross( |
|
tvec3<T, P> const & v, |
|
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 tquat<T, P> squad( |
|
tquat<T, P> const & q1, |
|
tquat<T, P> const & q2, |
|
tquat<T, P> const & s1, |
|
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 tquat<T, P> intermediate( |
|
tquat<T, P> const & prev, |
|
tquat<T, P> const & curr, |
|
tquat<T, P> const & next); |
|
|
|
//! Returns a exp of a quaternion. |
|
/// |
|
/// @see gtx_quaternion |
|
template<typename T, precision P> |
|
GLM_FUNC_DECL tquat<T, P> exp( |
|
tquat<T, P> const & q); |
|
|
|
//! Returns a log of a quaternion. |
|
/// |
|
/// @see gtx_quaternion |
|
template<typename T, precision P> |
|
GLM_FUNC_DECL tquat<T, P> log( |
|
tquat<T, P> const & q); |
|
|
|
/// Returns x raised to the y power. |
|
/// |
|
/// @see gtx_quaternion |
|
template<typename T, precision P> |
|
GLM_FUNC_DECL tquat<T, P> pow( |
|
tquat<T, P> const & x, |
|
T const & y); |
|
|
|
//! Returns quarternion square root. |
|
/// |
|
/// @see gtx_quaternion |
|
//template<typename T, precision P> |
|
//tquat<T, P> sqrt( |
|
// tquat<T, P> const & q); |
|
|
|
//! Rotates a 3 components vector by a quaternion. |
|
/// |
|
/// @see gtx_quaternion |
|
template<typename T, precision P> |
|
GLM_FUNC_DECL tvec3<T, P> rotate( |
|
tquat<T, P> const & q, |
|
tvec3<T, P> const & v); |
|
|
|
/// Rotates a 4 components vector by a quaternion. |
|
/// |
|
/// @see gtx_quaternion |
|
template<typename T, precision P> |
|
GLM_FUNC_DECL tvec4<T, P> rotate( |
|
tquat<T, P> const & q, |
|
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( |
|
tquat<T, P> const & q); |
|
|
|
/// Converts a quaternion to a 3 * 3 matrix. |
|
/// |
|
/// @see gtx_quaternion |
|
template<typename T, precision P> |
|
GLM_FUNC_DECL tmat3x3<T, P> toMat3( |
|
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 tmat4x4<T, P> toMat4( |
|
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 tquat<T, P> toQuat( |
|
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 tquat<T, P> toQuat( |
|
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 tquat<T, P> shortMix( |
|
tquat<T, P> const & x, |
|
tquat<T, P> const & y, |
|
T const & a); |
|
|
|
/// Quaternion normalized linear interpolation. |
|
/// |
|
/// @see gtx_quaternion |
|
template<typename T, precision P> |
|
GLM_FUNC_DECL tquat<T, P> fastMix( |
|
tquat<T, P> const & x, |
|
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 tquat<T, P> rotation( |
|
tvec3<T, P> const & orig, |
|
tvec3<T, P> const & dest); |
|
|
|
/// Returns the squared length of x. |
|
/// |
|
/// @see gtx_quaternion |
|
template<typename T, precision P> |
|
GLM_FUNC_DECL T length2(tquat<T, P> const & q); |
|
|
|
/// @} |
|
}//namespace glm |
|
|
|
#include "quaternion.inl"
|
|
|