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229 lines
6.5 KiB
229 lines
6.5 KiB
/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net) |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// Created : 2009-05-21 |
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// Updated : 2010-02-04 |
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// Licence : This source is under MIT License |
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// File : glm/gtc/quaternion.hpp |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// Dependency: |
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// - GLM core |
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// - GLM_GTC_half_float |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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// ToDo: |
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// - Study constructors with angles and axis |
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// - Study constructors with vec3 that are the imaginary component of quaternion |
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/////////////////////////////////////////////////////////////////////////////////////////////////// |
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#ifndef glm_gtc_quaternion |
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#define glm_gtc_quaternion |
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// Dependency: |
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#include "../glm.hpp" |
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#include "../gtc/half_float.hpp" |
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#if(defined(GLM_MESSAGES) && !defined(glm_ext)) |
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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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namespace test{ |
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bool main_gtc_quaternion(); |
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}//namespace test |
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namespace detail |
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{ |
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//! \brief Template for quaternion. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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struct tquat// : public genType<T, tquat> |
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{ |
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typedef T value_type; |
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public: |
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value_type x, y, z, w; |
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// Constructors |
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tquat(); |
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explicit tquat( |
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value_type const & s, |
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tvec3<T> const & v); |
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explicit tquat( |
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value_type const & w, |
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value_type const & x, |
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value_type const & y, |
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value_type const & z); |
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// Convertions |
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//explicit tquat(valType const & pitch, valType const & yaw, valType const & roll); |
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//! pitch, yaw, roll |
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explicit tquat( |
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tvec3<T> const & eulerAngles); |
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explicit tquat( |
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tmat3x3<T> const & m); |
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explicit tquat( |
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tmat4x4<T> const & m); |
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// Accesses |
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value_type & operator[](int i); |
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value_type const & operator[](int i) const; |
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// Operators |
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tquat<T> & operator*=(value_type const & s); |
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tquat<T> & operator/=(value_type const & s); |
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}; |
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template <typename T> |
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detail::tquat<T> operator- ( |
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detail::tquat<T> const & q); |
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template <typename T> |
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detail::tquat<T> operator* ( |
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detail::tquat<T> const & q, |
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detail::tquat<T> const & p); |
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template <typename T> |
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detail::tvec3<T> operator* ( |
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detail::tquat<T> const & q, |
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detail::tvec3<T> const & v); |
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template <typename T> |
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detail::tvec3<T> operator* ( |
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detail::tvec3<T> const & v, |
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detail::tquat<T> const & q); |
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template <typename T> |
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detail::tvec4<T> operator* ( |
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detail::tquat<T> const & q, |
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detail::tvec4<T> const & v); |
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template <typename T> |
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detail::tvec4<T> operator* ( |
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detail::tvec4<T> const & v, |
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detail::tquat<T> const & q); |
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template <typename T> |
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detail::tquat<T> operator* ( |
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detail::tquat<T> const & q, |
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typename detail::tquat<T>::value_type const & s); |
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template <typename T> |
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detail::tquat<T> operator* ( |
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typename detail::tquat<T>::value_type const & s, |
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detail::tquat<T> const & q); |
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template <typename T> |
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detail::tquat<T> operator/ ( |
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detail::tquat<T> const & q, |
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typename detail::tquat<T>::value_type const & s); |
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} //namespace detail |
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namespace gtc{ |
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//! GLM_GTC_quaternion extension: Quaternion types and functions |
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namespace quaternion |
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{ |
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//! Returns the length of the quaternion x. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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typename detail::tquat<T>::value_type length( |
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detail::tquat<T> const & q); |
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//! Returns the normalized quaternion of from x. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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detail::tquat<T> normalize( |
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detail::tquat<T> 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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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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typename detail::tquat<T>::value_type dot( |
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detail::tquat<T> const & q1, |
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detail::tquat<T> const & q2); |
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//! Returns the cross product of q1 and q2. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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GLM_DEPRECATED detail::tquat<T> cross( |
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detail::tquat<T> const & q1, |
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detail::tquat<T> const & q2); |
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//! Returns a SLERP interpolated quaternion of x and y according a. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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detail::tquat<T> mix( |
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detail::tquat<T> const & x, |
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detail::tquat<T> const & y, |
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typename detail::tquat<T>::value_type const & a); |
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//! Returns the q conjugate. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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detail::tquat<T> conjugate( |
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detail::tquat<T> const & q); |
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//! Returns the q inverse. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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detail::tquat<T> inverse( |
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detail::tquat<T> const & q); |
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//! Rotates a quaternion from an vector of 3 components axis and an angle expressed in degrees. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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detail::tquat<T> rotate( |
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detail::tquat<T> const & q, |
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typename detail::tquat<T>::value_type const & angle, |
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detail::tvec3<T> const & v); |
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//! Converts a quaternion to a 3 * 3 matrix. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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detail::tmat3x3<T> mat3_cast( |
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detail::tquat<T> const & x); |
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//! Converts a quaternion to a 4 * 4 matrix. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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detail::tmat4x4<T> mat4_cast( |
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detail::tquat<T> const & x); |
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//! Converts a 3 * 3 matrix to a quaternion. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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detail::tquat<T> quat_cast( |
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detail::tmat3x3<T> const & x); |
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//! Converts a 4 * 4 matrix to a quaternion. |
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//! From GLM_GTC_quaternion extension. |
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template <typename T> |
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detail::tquat<T> quat_cast( |
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detail::tmat4x4<T> const & x); |
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//! Quaternion of floating-point numbers. |
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//! From GLM_GTC_quaternion extension. |
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typedef detail::tquat<float> quat; |
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//! Quaternion of half-precision floating-point numbers. |
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//! From GLM_GTC_quaternion extension. |
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typedef detail::tquat<detail::thalf> hquat; |
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//! Quaternion of single-precision floating-point numbers. |
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//! From GLM_GTC_quaternion extension. |
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typedef detail::tquat<float> fquat; |
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//! Quaternion of double-precision floating-point numbers. |
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//! From GLM_GTC_quaternion extension. |
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typedef detail::tquat<double> dquat; |
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}//namespace quaternion |
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}//namespace gtc |
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} //namespace glm |
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#include "quaternion.inl" |
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namespace glm{using namespace gtc::quaternion;} |
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#endif//glm_gtc_quaternion
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