raytracing/Glm/gtx/quaternion.hpp

///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
/// Copyright (c) 2005 - 2013 G-Truc Creation (www.g-truc.net)
/// Permission is hereby granted, free of charge, to any person obtaining a copy
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/// 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.
/// 
/// 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
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/// 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.
///////////////////////////////////////////////////////////////////////////////////

#ifndef GLM_GTX_quaternion
#define GLM_GTX_quaternion GLM_VERSION

// Dependency:
#include "../glm.hpp"
#include "../gtc/quaternion.hpp"

#if(defined(GLM_MESSAGES) && !defined(glm_ext))
#	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 valType> 
	detail::tvec3<valType> cross(
		detail::tquat<valType> const & q, 
		detail::tvec3<valType> const & v);

	//! Compute a cross product between a vector and a quaternion.
	///
	/// @see gtx_quaternion
	template <typename valType> 
	detail::tvec3<valType> cross(
		detail::tvec3<valType> const & v, 
		detail::tquat<valType> 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 valType> 
	detail::tquat<valType> squad(
		detail::tquat<valType> const & q1, 
		detail::tquat<valType> const & q2, 
		detail::tquat<valType> const & s1, 
		detail::tquat<valType> const & s2, 
		valType const & h);

	//! Returns an intermediate control point for squad interpolation.
	///
	/// @see gtx_quaternion
	template <typename valType> 
	detail::tquat<valType> intermediate(
		detail::tquat<valType> const & prev, 
		detail::tquat<valType> const & curr, 
		detail::tquat<valType> const & next);

	//! Returns a exp of a quaternion. 
	///
	/// @see gtx_quaternion
    template <typename valType> 
	detail::tquat<valType> exp(
		detail::tquat<valType> const & q);

	//! Returns a log of a quaternion. 
	///
	/// @see gtx_quaternion
    template <typename valType> 
	detail::tquat<valType> log(
		detail::tquat<valType> const & q);

	/// Returns x raised to the y power.
	///
	/// @see gtx_quaternion
    template <typename valType> 
	detail::tquat<valType> pow(
		detail::tquat<valType> const & x, 
		valType const & y);

	//! Returns quarternion square root.
	///
	/// @see gtx_quaternion
	//template <typename valType> 
	//detail::tquat<valType> sqrt(
	//	detail::tquat<valType> const & q);

	//! Rotates a 3 components vector by a quaternion. 
	///
	/// @see gtx_quaternion
	template <typename valType> 
	detail::tvec3<valType> rotate(
		detail::tquat<valType> const & q, 
		detail::tvec3<valType> const & v);

	/// Rotates a 4 components vector by a quaternion.
	///
	/// @see gtx_quaternion
	template <typename valType> 
	detail::tvec4<valType> rotate(
		detail::tquat<valType> const & q, 
		detail::tvec4<valType> const & v);

	/// Extract the real component of a quaternion.
	///
	/// @see gtx_quaternion
	template <typename valType> 
	valType extractRealComponent(
		detail::tquat<valType> const & q);

	/// Converts a quaternion to a 3 * 3 matrix. 
	///
	/// @see gtx_quaternion
	template <typename valType> 
	detail::tmat3x3<valType> toMat3(
		detail::tquat<valType> const & x){return mat3_cast(x);}

	/// Converts a quaternion to a 4 * 4 matrix. 
	///
	/// @see gtx_quaternion
	template <typename valType> 
	detail::tmat4x4<valType> toMat4(
		detail::tquat<valType> const & x){return mat4_cast(x);}

	/// Converts a 3 * 3 matrix to a quaternion. 
	///
	/// @see gtx_quaternion
	template <typename valType> 
	detail::tquat<valType> toQuat(
		detail::tmat3x3<valType> const & x){return quat_cast(x);}

	/// Converts a 4 * 4 matrix to a quaternion. 
	///
	/// @see gtx_quaternion
	template <typename valType> 
	detail::tquat<valType> toQuat(
		detail::tmat4x4<valType> const & x){return quat_cast(x);}

	/// Quaternion interpolation using the rotation short path. 
	///
	/// @see gtx_quaternion
	template <typename T>
	detail::tquat<T> shortMix(
		detail::tquat<T> const & x, 
		detail::tquat<T> const & y, 
		T const & a);

	/// Quaternion normalized linear interpolation. 
	///
	/// @see gtx_quaternion
	template <typename T>
	detail::tquat<T> fastMix(
		detail::tquat<T> const & x, 
		detail::tquat<T> const & y, 
		T const & a);

	/// @}
}//namespace glm

#include "quaternion.inl"

#endif//GLM_GTX_quaternion