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///////////////////////////////////////////////////////////////////////////////////
/// 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
/// 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.
///
/// 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 gtc_quaternion
/// @file glm/gtc/quaternion.hpp
/// @date 2009-05-21 / 2012-12-20
/// @author Christophe Riccio
///
/// @see core (dependence)
/// @see gtc_half_float (dependence)
/// @see gtc_constants (dependence)
///
/// @defgroup gtc_quaternion GLM_GTC_quaternion
/// @ingroup gtc
///
/// @brief Defines a templated quaternion type and several quaternion operations.
///
/// <glm/gtc/quaternion.hpp> need to be included to use these functionalities.
///////////////////////////////////////////////////////////////////////////////////
#ifndef GLM_GTC_quaternion
#define GLM_GTC_quaternion GLM_VERSION
// Dependency:
#include "../glm.hpp"
#include "../gtc/half_float.hpp"
#include "../gtc/constants.hpp"
#if(defined(GLM_MESSAGES) && !defined(glm_ext))
# pragma message("GLM: GLM_GTC_quaternion extension included")
#endif
namespace glm{namespace detail{ template <typename T> struct tquat// : public genType<T, tquat>
{ enum ctor{null};
typedef T value_type; typedef std::size_t size_type;
public: value_type x, y, z, w;
GLM_FUNC_DECL size_type length() const;
// Constructors
tquat(); explicit tquat( value_type const & s, glm::detail::tvec3<T> const & v); explicit tquat( value_type const & w, value_type const & x, value_type const & y, value_type const & z);
// Convertions
/// Build a quaternion from euler angles (pitch, yaw, roll), in radians.
explicit tquat( tvec3<T> const & eulerAngles); explicit tquat( tmat3x3<T> const & m); explicit tquat( tmat4x4<T> const & m);
// Accesses
value_type & operator[](int i); value_type const & operator[](int i) const;
// Operators
tquat<T> & operator*=(value_type const & s); tquat<T> & operator/=(value_type const & s); };
template <typename T> detail::tquat<T> operator- ( detail::tquat<T> const & q);
template <typename T> detail::tquat<T> operator+ ( detail::tquat<T> const & q, detail::tquat<T> const & p);
template <typename T> detail::tquat<T> operator* ( detail::tquat<T> const & q, detail::tquat<T> const & p);
template <typename T> detail::tvec3<T> operator* ( detail::tquat<T> const & q, detail::tvec3<T> const & v);
template <typename T> detail::tvec3<T> operator* ( detail::tvec3<T> const & v, detail::tquat<T> const & q);
template <typename T> detail::tvec4<T> operator* ( detail::tquat<T> const & q, detail::tvec4<T> const & v);
template <typename T> detail::tvec4<T> operator* ( detail::tvec4<T> const & v, detail::tquat<T> const & q);
template <typename T> detail::tquat<T> operator* ( detail::tquat<T> const & q, typename detail::tquat<T>::value_type const & s);
template <typename T> detail::tquat<T> operator* ( typename detail::tquat<T>::value_type const & s, detail::tquat<T> const & q);
template <typename T> detail::tquat<T> operator/ ( detail::tquat<T> const & q, typename detail::tquat<T>::value_type const & s);
} //namespace detail
/// @addtogroup gtc_quaternion
/// @{
/// Returns the length of the quaternion.
///
/// @see gtc_quaternion
template <typename T> T length( detail::tquat<T> const & q);
/// Returns the normalized quaternion.
///
/// @see gtc_quaternion
template <typename T> detail::tquat<T> normalize( detail::tquat<T> const & q); /// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
///
/// @see gtc_quaternion
template <typename T> T dot( detail::tquat<T> const & q1, detail::tquat<T> const & q2);
/// Spherical linear interpolation of two quaternions.
/// The interpolation is oriented and the rotation is performed at constant speed.
/// For short path spherical linear interpolation, use the slerp function.
///
/// @param x A quaternion
/// @param y A quaternion
/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
/// @see gtc_quaternion
/// @see - slerp(detail::tquat<T> const & x, detail::tquat<T> const & y, T const & a)
template <typename T> detail::tquat<T> mix( detail::tquat<T> const & x, detail::tquat<T> const & y, T const & a);
/// Linear interpolation of two quaternions.
/// The interpolation is oriented.
///
/// @param x A quaternion
/// @param y A quaternion
/// @param a Interpolation factor. The interpolation is defined in the range [0, 1].
/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
/// @see gtc_quaternion
template <typename T> detail::tquat<T> lerp( detail::tquat<T> const & x, detail::tquat<T> const & y, T const & a);
/// Spherical linear interpolation of two quaternions.
/// The interpolation always take the short path and the rotation is performed at constant speed.
///
/// @param x A quaternion
/// @param y A quaternion
/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
/// @see gtc_quaternion
template <typename T> detail::tquat<T> slerp( detail::tquat<T> const & x, detail::tquat<T> const & y, T const & a);
/// Returns the q conjugate.
///
/// @see gtc_quaternion
template <typename T> detail::tquat<T> conjugate( detail::tquat<T> const & q);
/// Returns the q inverse.
///
/// @see gtc_quaternion
template <typename T> detail::tquat<T> inverse( detail::tquat<T> const & q);
/// Rotates a quaternion from an vector of 3 components axis and an angle.
///
/// @param q Source orientation
/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
/// @param axis Axis of the rotation, must be normalized.
///
/// @see gtc_quaternion
template <typename T> detail::tquat<T> rotate( detail::tquat<T> const & q, typename detail::tquat<T>::value_type const & angle, detail::tvec3<T> const & axis);
/// Returns euler angles, yitch as x, yaw as y, roll as z.
///
/// @see gtc_quaternion
template <typename T> detail::tvec3<T> eulerAngles( detail::tquat<T> const & x);
/// Returns roll value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
///
/// @see gtx_quaternion
template <typename valType> valType roll( detail::tquat<valType> const & x);
/// Returns pitch value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
///
/// @see gtx_quaternion
template <typename valType> valType pitch( detail::tquat<valType> const & x);
/// Returns yaw value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
///
/// @see gtx_quaternion
template <typename valType> valType yaw( detail::tquat<valType> const & x);
/// Converts a quaternion to a 3 * 3 matrix.
///
/// @see gtc_quaternion
template <typename T> detail::tmat3x3<T> mat3_cast( detail::tquat<T> const & x);
/// Converts a quaternion to a 4 * 4 matrix.
///
/// @see gtc_quaternion
template <typename T> detail::tmat4x4<T> mat4_cast( detail::tquat<T> const & x);
/// Converts a 3 * 3 matrix to a quaternion.
///
/// @see gtc_quaternion
template <typename T> detail::tquat<T> quat_cast( detail::tmat3x3<T> const & x);
/// Converts a 4 * 4 matrix to a quaternion.
///
/// @see gtc_quaternion
template <typename T> detail::tquat<T> quat_cast( detail::tmat4x4<T> const & x);
/// Returns the quaternion rotation angle.
///
/// @see gtc_quaternion
template <typename valType> valType angle( detail::tquat<valType> const & x);
/// Returns the q rotation axis.
///
/// @see gtc_quaternion
template <typename valType> detail::tvec3<valType> axis( detail::tquat<valType> const & x);
/// Build a quaternion from an angle and a normalized axis.
///
/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
/// @param x x component of the x-axis, x, y, z must be a normalized axis
/// @param y y component of the y-axis, x, y, z must be a normalized axis
/// @param z z component of the z-axis, x, y, z must be a normalized axis
///
/// @see gtc_quaternion
template <typename valType> detail::tquat<valType> angleAxis( valType const & angle, valType const & x, valType const & y, valType const & z);
/// Build a quaternion from an angle and a normalized axis.
///
/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
/// @param axis Axis of the quaternion, must be normalized.
///
/// @see gtc_quaternion
template <typename valType> detail::tquat<valType> angleAxis( valType const & angle, detail::tvec3<valType> const & axis);
/// Quaternion of floating-point numbers.
///
/// @see gtc_quaternion
typedef detail::tquat<float> quat;
/// Quaternion of half-precision floating-point numbers.
///
/// @see gtc_quaternion
typedef detail::tquat<detail::half> hquat;
/// Quaternion of single-precision floating-point numbers.
///
/// @see gtc_quaternion
typedef detail::tquat<float> fquat;
/// Quaternion of double-precision floating-point numbers.
///
/// @see gtc_quaternion
typedef detail::tquat<double> dquat;
/// Quaternion of low precision floating-point numbers.
///
/// @see gtc_quaternion
typedef detail::tquat<lowp_float> lowp_quat;
/// Quaternion of medium precision floating-point numbers.
///
/// @see gtc_quaternion
typedef detail::tquat<mediump_float> mediump_quat;
/// Quaternion of high precision floating-point numbers.
///
/// @see gtc_quaternion
typedef detail::tquat<highp_float> highp_quat;
/// @}
} //namespace glm
#include "quaternion.inl"
#endif//GLM_GTC_quaternion
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