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381 lines
11 KiB
381 lines
11 KiB
///////////////////////////////////////////////////////////////////////////////////
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/// OpenGL Mathematics (glm.g-truc.net)
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///
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/// Copyright (c) 2005 - 2013 G-Truc Creation (www.g-truc.net)
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/// Permission is hereby granted, free of charge, to any person obtaining a copy
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/// of this software and associated documentation files (the "Software"), to deal
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/// in the Software without restriction, including without limitation the rights
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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/// copies of the Software, and to permit persons to whom the Software is
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/// furnished to do so, subject to the following conditions:
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///
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/// The above copyright notice and this permission notice shall be included in
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/// all copies or substantial portions of the Software.
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///
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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/// THE SOFTWARE.
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///
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/// @ref gtc_quaternion
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/// @file glm/gtc/quaternion.hpp
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/// @date 2009-05-21 / 2012-12-20
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/// @author Christophe Riccio
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///
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/// @see core (dependence)
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/// @see gtc_half_float (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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/// @brief Defines a templated quaternion type and several quaternion operations.
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///
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/// <glm/gtc/quaternion.hpp> need to be included to use these functionalities.
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///////////////////////////////////////////////////////////////////////////////////
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#ifndef GLM_GTC_quaternion
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#define GLM_GTC_quaternion GLM_VERSION
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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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#include "../gtc/constants.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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namespace detail
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{
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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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enum ctor{null};
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typedef T value_type;
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typedef std::size_t size_type;
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public:
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value_type x, y, z, w;
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GLM_FUNC_DECL size_type length() const;
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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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glm::detail::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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/// Build a quaternion from euler angles (pitch, yaw, roll), in radians.
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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::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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/// @addtogroup gtc_quaternion
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/// @{
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/// Returns the length of the quaternion.
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///
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/// @see gtc_quaternion
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template <typename T>
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T length(
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detail::tquat<T> const & q);
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/// Returns the normalized quaternion.
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///
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/// @see gtc_quaternion
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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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///
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/// @see gtc_quaternion
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template <typename T>
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T dot(
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detail::tquat<T> const & q1,
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detail::tquat<T> const & q2);
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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 Value type used to build the quaternion. Supported: half, float or double.
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/// @see gtc_quaternion
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/// @see - slerp(detail::tquat<T> const & x, detail::tquat<T> const & y, T const & a)
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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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T const & 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 Value type used to build the quaternion. Supported: half, float or double.
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/// @see gtc_quaternion
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template <typename T>
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detail::tquat<T> lerp(
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detail::tquat<T> const & x,
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detail::tquat<T> const & y,
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T const & 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 Value type used to build the quaternion. Supported: half, float or double.
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/// @see gtc_quaternion
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template <typename T>
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detail::tquat<T> slerp(
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detail::tquat<T> const & x,
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detail::tquat<T> const & y,
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T const & a);
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/// Returns the q conjugate.
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///
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/// @see gtc_quaternion
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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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///
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/// @see gtc_quaternion
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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.
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///
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/// @param q Source orientation
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/// @param angle Angle expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
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/// @param axis Axis of the rotation, must be normalized.
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///
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/// @see gtc_quaternion
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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 & axis);
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/// Returns euler angles, yitch as x, yaw as y, roll as z.
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///
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/// @see gtc_quaternion
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template <typename T>
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detail::tvec3<T> eulerAngles(
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detail::tquat<T> const & x);
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/// Returns roll value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
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///
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/// @see gtx_quaternion
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template <typename valType>
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valType roll(
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detail::tquat<valType> const & x);
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/// Returns pitch value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
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///
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/// @see gtx_quaternion
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template <typename valType>
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valType pitch(
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detail::tquat<valType> const & x);
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/// Returns yaw value of euler angles expressed in radians if GLM_FORCE_RADIANS is define or degrees otherwise.
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///
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/// @see gtx_quaternion
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template <typename valType>
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valType yaw(
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detail::tquat<valType> const & x);
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/// Converts a quaternion to a 3 * 3 matrix.
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///
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/// @see gtc_quaternion
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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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///
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/// @see gtc_quaternion
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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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///
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/// @see gtc_quaternion
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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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///
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/// @see gtc_quaternion
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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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/// Returns the quaternion rotation angle.
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///
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/// @see gtc_quaternion
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template <typename valType>
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valType angle(
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detail::tquat<valType> const & x);
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/// Returns the q rotation axis.
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///
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/// @see gtc_quaternion
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template <typename valType>
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detail::tvec3<valType> axis(
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detail::tquat<valType> 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 if GLM_FORCE_RADIANS is define or degrees otherwise.
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/// @param x x component of the x-axis, x, y, z must be a normalized axis
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/// @param y y component of the y-axis, x, y, z must be a normalized axis
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/// @param z z component of the z-axis, x, y, z must be a normalized axis
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///
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/// @see gtc_quaternion
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template <typename valType>
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detail::tquat<valType> angleAxis(
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valType const & angle,
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valType const & x,
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valType const & y,
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valType const & z);
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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 if GLM_FORCE_RADIANS is define or degrees otherwise.
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/// @param axis Axis of the quaternion, must be normalized.
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///
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/// @see gtc_quaternion
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template <typename valType>
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detail::tquat<valType> angleAxis(
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valType const & angle,
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detail::tvec3<valType> const & axis);
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/// Quaternion of floating-point numbers.
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///
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/// @see gtc_quaternion
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typedef detail::tquat<float> quat;
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/// Quaternion of half-precision floating-point numbers.
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///
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/// @see gtc_quaternion
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typedef detail::tquat<detail::half> hquat;
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/// Quaternion of single-precision floating-point numbers.
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///
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/// @see gtc_quaternion
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typedef detail::tquat<float> fquat;
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/// Quaternion of double-precision floating-point numbers.
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///
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/// @see gtc_quaternion
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typedef detail::tquat<double> dquat;
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/// Quaternion of low precision floating-point numbers.
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///
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/// @see gtc_quaternion
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typedef detail::tquat<lowp_float> lowp_quat;
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/// Quaternion of medium precision floating-point numbers.
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///
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/// @see gtc_quaternion
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typedef detail::tquat<mediump_float> mediump_quat;
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/// Quaternion of high precision floating-point numbers.
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///
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/// @see gtc_quaternion
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typedef detail::tquat<highp_float> highp_quat;
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/// @}
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} //namespace glm
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#include "quaternion.inl"
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#endif//GLM_GTC_quaternion
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