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269 lines
9.2 KiB
269 lines
9.2 KiB
/// @ref gtx_dual_quaternion |
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/// @file glm/gtx/dual_quaternion.hpp |
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/// @author Maksim Vorobiev (msomeone@gmail.com) |
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/// |
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/// @see core (dependence) |
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/// @see gtc_constants (dependence) |
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/// @see gtc_quaternion (dependence) |
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/// |
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/// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion |
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/// @ingroup gtx |
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/// |
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/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations. |
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/// |
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/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities. |
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#pragma once |
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// Dependency: |
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#include "../glm.hpp" |
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#include "../gtc/constants.hpp" |
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#include "../gtc/quaternion.hpp" |
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#ifndef GLM_ENABLE_EXPERIMENTAL |
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# error "GLM: GLM_GTX_dual_quaternion is an experimetal extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it." |
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#endif |
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#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED) |
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# pragma message("GLM: GLM_GTX_dual_quaternion extension included") |
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#endif |
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namespace glm |
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{ |
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/// @addtogroup gtx_dual_quaternion |
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/// @{ |
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template <typename T, precision P = defaultp> |
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struct tdualquat |
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{ |
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// -- Implementation detail -- |
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typedef T value_type; |
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typedef glm::tquat<T, P> part_type; |
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// -- Data -- |
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glm::tquat<T, P> real, dual; |
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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 dual quaternion |
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GLM_FUNC_DECL static length_type length(){return 2;} |
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GLM_FUNC_DECL part_type & operator[](length_type i); |
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GLM_FUNC_DECL part_type const & operator[](length_type i) const; |
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// -- Implicit basic constructors -- |
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT_CTOR; |
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const & d) GLM_DEFAULT; |
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template <precision Q> |
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const & d); |
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// -- Explicit basic constructors -- |
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GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tdualquat(ctor); |
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real); |
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation); |
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GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual); |
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// -- Conversion constructors -- |
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template <typename U, precision Q> |
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GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, Q> const & q); |
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GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat2x4<T, P> const & holder_mat); |
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GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat3x4<T, P> const & aug_mat); |
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// -- Unary arithmetic operators -- |
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GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m) GLM_DEFAULT; |
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template <typename U> |
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GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<U, P> const & m); |
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template <typename U> |
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GLM_FUNC_DECL tdualquat<T, P> & operator*=(U s); |
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template <typename U> |
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GLM_FUNC_DECL tdualquat<T, P> & operator/=(U s); |
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}; |
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// -- Unary bit operators -- |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> operator-(tdualquat<T, P> const & q); |
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// -- Binary operators -- |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q, tdualquat<T, P> const & p); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, tdualquat<T, P> const & p); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec3<T, P> operator*(tdualquat<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, tdualquat<T, P> const & q); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tvec4<T, P> operator*(tdualquat<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, tdualquat<T, P> const & q); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, T const & s); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> operator*(T const & s, tdualquat<T, P> const & q); |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> operator/(tdualquat<T, P> const & q, T const & s); |
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// -- Boolean operators -- |
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template <typename T, precision P> |
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GLM_FUNC_DECL bool operator==(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2); |
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template <typename T, precision P> |
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GLM_FUNC_DECL bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2); |
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/// Returns the normalized quaternion. |
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/// |
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/// @see gtx_dual_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> normalize(tdualquat<T, P> const & q); |
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/// Returns the linear interpolation of two dual quaternion. |
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/// |
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/// @see gtc_dual_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> lerp(tdualquat<T, P> const & x, tdualquat<T, P> const & y, T const & a); |
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/// Returns the q inverse. |
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/// |
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/// @see gtx_dual_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> inverse(tdualquat<T, P> const & q); |
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/// Converts a quaternion to a 2 * 4 matrix. |
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/// |
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/// @see gtx_dual_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast(tdualquat<T, P> const & x); |
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/// Converts a quaternion to a 3 * 4 matrix. |
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/// |
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/// @see gtx_dual_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast(tdualquat<T, P> const & x); |
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/// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion. |
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/// |
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/// @see gtx_dual_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(tmat2x4<T, P> const & x); |
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/// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion. |
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/// |
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/// @see gtx_dual_quaternion |
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template <typename T, precision P> |
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GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(tmat3x4<T, P> const & x); |
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/// Dual-quaternion of low single-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef tdualquat<float, lowp> lowp_dualquat; |
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/// Dual-quaternion of medium single-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef tdualquat<float, mediump> mediump_dualquat; |
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/// Dual-quaternion of high single-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef tdualquat<float, highp> highp_dualquat; |
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/// Dual-quaternion of low single-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef tdualquat<float, lowp> lowp_fdualquat; |
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/// Dual-quaternion of medium single-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef tdualquat<float, mediump> mediump_fdualquat; |
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/// Dual-quaternion of high single-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef tdualquat<float, highp> highp_fdualquat; |
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/// Dual-quaternion of low double-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef tdualquat<double, lowp> lowp_ddualquat; |
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/// Dual-quaternion of medium double-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef tdualquat<double, mediump> mediump_ddualquat; |
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/// Dual-quaternion of high double-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef tdualquat<double, highp> highp_ddualquat; |
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#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT)) |
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/// Dual-quaternion of floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef highp_fdualquat dualquat; |
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/// Dual-quaternion of single-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef highp_fdualquat fdualquat; |
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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 highp_fdualquat dualquat; |
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typedef highp_fdualquat fdualquat; |
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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_fdualquat dualquat; |
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typedef mediump_fdualquat fdualquat; |
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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_fdualquat dualquat; |
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typedef lowp_fdualquat fdualquat; |
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#else |
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# error "GLM error: multiple default precision requested for single-precision floating-point types" |
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#endif |
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#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) |
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/// Dual-quaternion of default double-precision floating-point numbers. |
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/// |
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/// @see gtx_dual_quaternion |
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typedef highp_ddualquat ddualquat; |
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#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) |
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typedef highp_ddualquat ddualquat; |
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#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE)) |
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typedef mediump_ddualquat ddualquat; |
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#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE)) |
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typedef lowp_ddualquat ddualquat; |
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#else |
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# error "GLM error: Multiple default precision requested for double-precision floating-point types" |
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#endif |
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/// @} |
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} //namespace glm |
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#include "dual_quaternion.inl"
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