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488 lines
15 KiB
488 lines
15 KiB
/// @ref gtc_quaternion |
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/// @file glm/gtc/quaternion.hpp |
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/// |
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/// @see core (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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/// Include <glm/gtc/quaternion.hpp> to use the features of this extension. |
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/// |
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/// Defines a templated quaternion type and several quaternion operations. |
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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 "../ext/vector_relational.hpp" |
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#include "../gtc/constants.hpp" |
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#include "../gtc/matrix_transform.hpp" |
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#if GLM_MESSAGES == GLM_ENABLE && !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, qualifier Q = defaultp> |
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struct tquat |
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{ |
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// -- Implementation detail -- |
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typedef tquat<T, Q> type; |
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typedef T value_type; |
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// -- Data -- |
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# if GLM_LANG & GLM_LANG_CXXMS_FLAG |
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union |
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{ |
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struct { T x, y, z, w;}; |
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}; |
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# else |
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T x, y, z, w; |
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# endif |
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// -- Component accesses -- |
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typedef length_t length_type; |
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/// Return the count of components of a quaternion |
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GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 4;} |
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GLM_FUNC_DECL GLM_CONSTEXPR T & operator[](length_type i); |
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GLM_FUNC_DECL GLM_CONSTEXPR T const& operator[](length_type i) const; |
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// -- Implicit basic constructors -- |
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GLM_FUNC_DECL GLM_CONSTEXPR tquat() GLM_DEFAULT; |
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GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, Q> const& q) GLM_DEFAULT; |
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template<qualifier P> |
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GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, P> const& q); |
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// -- Explicit basic constructors -- |
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GLM_FUNC_DECL GLM_CONSTEXPR tquat(T s, vec<3, T, Q> const& v); |
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GLM_FUNC_DECL GLM_CONSTEXPR tquat(T w, T x, T y, T z); |
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// -- Conversion constructors -- |
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template<typename U, qualifier P> |
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GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tquat(tquat<U, P> const& q); |
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/// Explicit conversion operators |
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# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS |
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GLM_FUNC_DECL explicit operator mat<3, 3, T, Q>(); |
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GLM_FUNC_DECL explicit operator mat<4, 4, T, Q>(); |
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# endif |
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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 tquat(vec<3, T, Q> const& u, vec<3, T, Q> const& v); |
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/// Build a quaternion from euler angles (pitch, yaw, roll), in radians. |
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GLM_FUNC_DECL GLM_EXPLICIT tquat(vec<3, T, Q> const& eulerAngles); |
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GLM_FUNC_DECL GLM_EXPLICIT tquat(mat<3, 3, T, Q> const& q); |
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GLM_FUNC_DECL GLM_EXPLICIT tquat(mat<4, 4, T, Q> const& q); |
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// -- Unary arithmetic operators -- |
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GLM_FUNC_DECL tquat<T, Q> & operator=(tquat<T, Q> const& q) GLM_DEFAULT; |
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template<typename U> |
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GLM_FUNC_DECL tquat<T, Q> & operator=(tquat<U, Q> const& q); |
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template<typename U> |
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GLM_FUNC_DECL tquat<T, Q> & operator+=(tquat<U, Q> const& q); |
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template<typename U> |
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GLM_FUNC_DECL tquat<T, Q> & operator-=(tquat<U, Q> const& q); |
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template<typename U> |
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GLM_FUNC_DECL tquat<T, Q> & operator*=(tquat<U, Q> const& q); |
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template<typename U> |
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GLM_FUNC_DECL tquat<T, Q> & operator*=(U s); |
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template<typename U> |
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GLM_FUNC_DECL tquat<T, Q> & operator/=(U s); |
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}; |
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// -- Unary bit operators -- |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> operator+(tquat<T, Q> const& q); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> operator-(tquat<T, Q> const& q); |
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// -- Binary operators -- |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> operator+(tquat<T, Q> const& q, tquat<T, Q> const& p); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> operator-(tquat<T, Q> const& q, tquat<T, Q> const& p); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> operator*(tquat<T, Q> const& q, tquat<T, Q> const& p); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<3, T, Q> operator*(tquat<T, Q> const& q, vec<3, T, Q> const& v); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, tquat<T, Q> const& q); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, T, Q> operator*(tquat<T, Q> const& q, vec<4, T, Q> const& v); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, tquat<T, Q> const& q); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> operator*(tquat<T, Q> const& q, T const& s); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> operator*(T const& s, tquat<T, Q> const& q); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> operator/(tquat<T, Q> const& q, T const& s); |
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// -- Boolean operators -- |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL GLM_CONSTEXPR bool operator==(tquat<T, Q> const& q1, tquat<T, Q> const& q2); |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL GLM_CONSTEXPR bool operator!=(tquat<T, Q> const& q1, tquat<T, Q> const& q2); |
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/// Builds an identity quaternion. |
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template<typename genType> |
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GLM_FUNC_DECL GLM_CONSTEXPR genType identity(); |
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/// Returns the length of the quaternion. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL T length(tquat<T, Q> const& q); |
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/// Returns the normalized quaternion. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> normalize(tquat<T, Q> 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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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL T dot(tquat<T, Q> const& x, tquat<T, Q> 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 Floating-point scalar types. |
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/// |
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/// @see - slerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T const& a) |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> mix(tquat<T, Q> const& x, tquat<T, Q> const& y, T 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 Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> lerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T 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 Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> slerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T a); |
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/// Returns the q conjugate. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> conjugate(tquat<T, Q> const& q); |
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/// Returns the q inverse. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> inverse(tquat<T, Q> 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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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> rotate(tquat<T, Q> const& q, T const& angle, vec<3, T, Q> const& axis); |
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/// Returns euler angles, pitch as x, yaw as y, roll as z. |
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/// The result is expressed in radians. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<3, T, Q> eulerAngles(tquat<T, Q> const& x); |
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/// Returns roll value of euler angles expressed in radians. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL T roll(tquat<T, Q> const& x); |
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/// Returns pitch value of euler angles expressed in radians. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL T pitch(tquat<T, Q> const& x); |
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/// Returns yaw value of euler angles expressed in radians. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL T yaw(tquat<T, Q> const& x); |
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/// Converts a quaternion to a 3 * 3 matrix. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL mat<3, 3, T, Q> mat3_cast(tquat<T, Q> const& x); |
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/// Converts a quaternion to a 4 * 4 matrix. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL mat<4, 4, T, Q> mat4_cast(tquat<T, Q> const& x); |
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/// Converts a pure rotation 3 * 3 matrix to a quaternion. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> quat_cast(mat<3, 3, T, Q> const& x); |
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/// Converts a pure rotation 4 * 4 matrix to a quaternion. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> quat_cast(mat<4, 4, T, Q> const& x); |
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/// Returns the quaternion rotation angle. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL T angle(tquat<T, Q> const& x); |
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/// Returns the q rotation axis. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<3, T, Q> axis(tquat<T, Q> 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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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL tquat<T, Q> angleAxis(T const& angle, vec<3, T, Q> const& axis); |
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/// Returns the component-wise comparison result of x < y. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, bool, Q> lessThan(tquat<T, Q> const& x, tquat<T, Q> const& y); |
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/// Returns the component-wise comparison of result x <= y. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, bool, Q> lessThanEqual(tquat<T, Q> const& x, tquat<T, Q> const& y); |
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/// Returns the component-wise comparison of result x > y. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, bool, Q> greaterThan(tquat<T, Q> const& x, tquat<T, Q> const& y); |
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/// Returns the component-wise comparison of result x >= y. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, bool, Q> greaterThanEqual(tquat<T, Q> const& x, tquat<T, Q> const& y); |
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/// Returns the component-wise comparison of result x == y. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, bool, Q> equal(tquat<T, Q> const& x, tquat<T, Q> const& y); |
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/// Returns the component-wise comparison of |x - y| < epsilon. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, bool, Q> equal(tquat<T, Q> const& x, tquat<T, Q> const& y, T epsilon); |
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/// Returns the component-wise comparison of result x != y. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, bool, Q> notEqual(tquat<T, Q> const& x, tquat<T, Q> const& y); |
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/// Returns the component-wise comparison of |x - y| >= epsilon. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, bool, Q> notEqual(tquat<T, Q> const& x, tquat<T, Q> const& y, T epsilon); |
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/// Returns true if x holds a NaN (not a number) |
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/// representation in the underlying implementation's set of |
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/// floating point representations. Returns false otherwise, |
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/// including for implementations with no NaN |
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/// representations. |
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/// |
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/// /!\ When using compiler fast math, this function may fail. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, bool, Q> isnan(tquat<T, Q> const& x); |
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/// Returns true if x holds a positive infinity or negative |
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/// infinity representation in the underlying implementation's |
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/// set of floating point representations. Returns false |
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/// otherwise, including for implementations with no infinity |
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/// representations. |
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/// |
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/// @tparam T Floating-point scalar types. |
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/// |
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/// @see gtc_quaternion |
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template<typename T, qualifier Q> |
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GLM_FUNC_DECL vec<4, bool, Q> isinf(tquat<T, Q> const& x); |
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/// Quaternion of low single-qualifier floating-point numbers. |
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/// |
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/// @see gtc_quaternion |
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typedef tquat<float, lowp> lowp_quat; |
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/// Quaternion of medium single-qualifier floating-point numbers. |
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/// |
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/// @see gtc_quaternion |
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typedef tquat<float, mediump> mediump_quat; |
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/// Quaternion of high single-qualifier floating-point numbers. |
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/// |
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/// @see gtc_quaternion |
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typedef tquat<float, highp> highp_quat; |
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#if(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) |
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typedef highp_quat quat; |
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#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) |
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typedef mediump_quat quat; |
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#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT)) |
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typedef lowp_quat quat; |
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#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) |
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/// Quaternion of default single-qualifier floating-point numbers. |
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typedef highp_quat quat; |
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#endif |
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/// Quaternion of low single-qualifier floating-point numbers. |
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/// |
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/// @see gtc_quaternion |
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typedef lowp_quat lowp_fquat; |
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/// Quaternion of medium single-qualifier floating-point numbers. |
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/// |
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/// @see gtc_quaternion |
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typedef mediump_quat mediump_fquat; |
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/// Quaternion of high single-qualifier floating-point numbers. |
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/// |
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/// @see gtc_quaternion |
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typedef highp_quat highp_fquat; |
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/// Quaternion of default single-qualifier floating-point numbers. |
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/// |
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/// @see gtc_quaternion |
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typedef quat fquat; |
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/// @} |
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} //namespace glm |
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#include "quaternion.inl"
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