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gtc/quaternion.hpp
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1
14 #pragma once
15
16 // Dependency:
17 #include "../mat3x3.hpp"
18 #include "../mat4x4.hpp"
19 #include "../vec3.hpp"
20 #include "../vec4.hpp"
21 #include "../gtc/constants.hpp"
22
23 #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
24 # pragma message("GLM: GLM_GTC_quaternion extension included")
25 #endif
26
27 namespace glm
28 {
31
32 template <typename T, precision P = defaultp>
33 struct tquat
34 {
35 // -- Implementation detail --
36
37 typedef tquat<T, P> type;
38 typedef T value_type;
39
40 // -- Data --
41
42 # if GLM_HAS_ALIGNED_TYPE
43 # if GLM_COMPILER & GLM_COMPILER_GCC
44 # pragma GCC diagnostic push
45 # pragma GCC diagnostic ignored "-Wpedantic"
46 # endif
47 # if GLM_COMPILER & GLM_COMPILER_CLANG
48 # pragma clang diagnostic push
49 # pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
50 # pragma clang diagnostic ignored "-Wnested-anon-types"
51 # endif
52
53 union
54 {
55 struct { T x, y, z, w;};
56 typename detail::storage<T, sizeof(T) * 4, detail::is_aligned<P>::value>::type data;
57 };
58
59 # if GLM_COMPILER & GLM_COMPILER_CLANG
60 # pragma clang diagnostic pop
61 # endif
62 # if GLM_COMPILER & GLM_COMPILER_GCC
63 # pragma GCC diagnostic pop
64 # endif
65 # else
66 T x, y, z, w;
67 # endif
68
69 // -- Component accesses --
70
71 typedef length_t length_type;
73 GLM_FUNC_DECL static length_type length(){return 4;}
74
75 GLM_FUNC_DECL T & operator[](length_type i);
76 GLM_FUNC_DECL T const & operator[](length_type i) const;
77
78 // -- Implicit basic constructors --
79
80 GLM_FUNC_DECL GLM_CONSTEXPR tquat() GLM_DEFAULT_CTOR;
81 GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, P> const & q) GLM_DEFAULT;
82 template <precision Q>
83 GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, Q> const & q);
84
85 // -- Explicit basic constructors --
86
87 GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tquat(ctor);
88 GLM_FUNC_DECL GLM_CONSTEXPR tquat(T const & s, tvec3<T, P> const & v);
89 GLM_FUNC_DECL GLM_CONSTEXPR tquat(T const & w, T const & x, T const & y, T const & z);
90
91 // -- Conversion constructors --
92
93 template <typename U, precision Q>
94 GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tquat(tquat<U, Q> const & q);
95
97 # if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
98 GLM_FUNC_DECL explicit operator tmat3x3<T, P>();
99 GLM_FUNC_DECL explicit operator tmat4x4<T, P>();
100 # endif
101
108 GLM_FUNC_DECL tquat(tvec3<T, P> const & u, tvec3<T, P> const & v);
109
111 GLM_FUNC_DECL GLM_EXPLICIT tquat(tvec3<T, P> const & eulerAngles);
112 GLM_FUNC_DECL GLM_EXPLICIT tquat(tmat3x3<T, P> const & m);
113 GLM_FUNC_DECL GLM_EXPLICIT tquat(tmat4x4<T, P> const & m);
114
115 // -- Unary arithmetic operators --
116
117 GLM_FUNC_DECL tquat<T, P> & operator=(tquat<T, P> const & m) GLM_DEFAULT;
118
119 template <typename U>
120 GLM_FUNC_DECL tquat<T, P> & operator=(tquat<U, P> const & m);
121 template <typename U>
122 GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<U, P> const & q);
123 template <typename U>
124 GLM_FUNC_DECL tquat<T, P> & operator-=(tquat<U, P> const & q);
125 template <typename U>
126 GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<U, P> const & q);
127 template <typename U>
128 GLM_FUNC_DECL tquat<T, P> & operator*=(U s);
129 template <typename U>
130 GLM_FUNC_DECL tquat<T, P> & operator/=(U s);
131 };
132
133 // -- Unary bit operators --
134
135 template <typename T, precision P>
136 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q);
137
138 template <typename T, precision P>
139 GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q);
140
141 // -- Binary operators --
142
143 template <typename T, precision P>
144 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p);
145
146 template <typename T, precision P>
147 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p);
148
149 template <typename T, precision P>
150 GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v);
151
152 template <typename T, precision P>
153 GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q);
154
155 template <typename T, precision P>
156 GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v);
157
158 template <typename T, precision P>
159 GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q);
160
161 template <typename T, precision P>
162 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s);
163
164 template <typename T, precision P>
165 GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q);
166
167 template <typename T, precision P>
168 GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s);
169
170 // -- Boolean operators --
171
172 template <typename T, precision P>
173 GLM_FUNC_DECL bool operator==(tquat<T, P> const & q1, tquat<T, P> const & q2);
174
175 template <typename T, precision P>
176 GLM_FUNC_DECL bool operator!=(tquat<T, P> const & q1, tquat<T, P> const & q2);
177
181 template <typename T, precision P>
182 GLM_FUNC_DECL T length(tquat<T, P> const & q);
183
187 template <typename T, precision P>
188 GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q);
189
193 template <typename T, precision P, template <typename, precision> class quatType>
194 GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y);
195
206 template <typename T, precision P>
207 GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T a);
208
217 template <typename T, precision P>
218 GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
219
228 template <typename T, precision P>
229 GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
230
234 template <typename T, precision P>
235 GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q);
236
240 template <typename T, precision P>
241 GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q);
242
250 template <typename T, precision P>
251 GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis);
252
257 template <typename T, precision P>
258 GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x);
259
263 template <typename T, precision P>
264 GLM_FUNC_DECL T roll(tquat<T, P> const & x);
265
269 template <typename T, precision P>
270 GLM_FUNC_DECL T pitch(tquat<T, P> const & x);
271
275 template <typename T, precision P>
276 GLM_FUNC_DECL T yaw(tquat<T, P> const & x);
277
281 template <typename T, precision P>
282 GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x);
283
287 template <typename T, precision P>
288 GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x);
289
293 template <typename T, precision P>
294 GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x);
295
299 template <typename T, precision P>
300 GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x);
301
305 template <typename T, precision P>
306 GLM_FUNC_DECL T angle(tquat<T, P> const & x);
307
311 template <typename T, precision P>
312 GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x);
313
320 template <typename T, precision P>
321 GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis);
322
328 template <typename T, precision P>
329 GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y);
330
336 template <typename T, precision P>
337 GLM_FUNC_DECL tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
338
344 template <typename T, precision P>
345 GLM_FUNC_DECL tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y);
346
352 template <typename T, precision P>
353 GLM_FUNC_DECL tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
354
360 template <typename T, precision P>
361 GLM_FUNC_DECL tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y);
362
368 template <typename T, precision P>
369 GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y);
370
380 template <typename T, precision P>
381 GLM_FUNC_DECL tvec4<bool, P> isnan(tquat<T, P> const & x);
382
390 template <typename T, precision P>
391 GLM_FUNC_DECL tvec4<bool, P> isinf(tquat<T, P> const & x);
392
394 } //namespace glm
395
396 #include "quaternion.inl"
glm::roll
GLM_FUNC_DECL T roll(tquat< T, P > const &x)
Returns roll value of euler angles expressed in radians.
glm::pitch
GLM_FUNC_DECL T pitch(tquat< T, P > const &x)
Returns pitch value of euler angles expressed in radians.
glm::equal
GLM_FUNC_DECL tvec4< bool, P > equal(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x == y.
glm::rotate
GLM_FUNC_DECL tquat< T, P > rotate(tquat< T, P > const &q, T const &angle, tvec3< T, P > const &axis)
Rotates a quaternion from a vector of 3 components axis and an angle.
glm::greaterThanEqual
GLM_FUNC_DECL tvec4< bool, P > greaterThanEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x >= y.
glm::quat_cast
GLM_FUNC_DECL tquat< T, P > quat_cast(tmat4x4< T, P > const &x)
Converts a 4 * 4 matrix to a quaternion.
glm::isnan
GLM_FUNC_DECL tvec4< bool, P > isnan(tquat< T, P > const &x)
Returns true if x holds a NaN (not a number) representation in the underlying implementation's set of...
glm::conjugate
GLM_FUNC_DECL tquat< T, P > conjugate(tquat< T, P > const &q)
Returns the q conjugate.
glm::greaterThan
GLM_FUNC_DECL tvec4< bool, P > greaterThan(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x > y.
glm::lerp
GLM_FUNC_DECL tquat< T, P > lerp(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Linear interpolation of two quaternions.
glm::mat4_cast
GLM_FUNC_DECL tmat4x4< T, P > mat4_cast(tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 matrix.
glm::normalize
GLM_FUNC_DECL tquat< T, P > normalize(tquat< T, P > const &q)
Returns the normalized quaternion.
glm::length
GLM_FUNC_DECL T length(tquat< T, P > const &q)
Returns the length of the quaternion.
glm::axis
GLM_FUNC_DECL tvec3< T, P > axis(tquat< T, P > const &x)
Returns the q rotation axis.
glm::dot
GLM_FUNC_DECL T dot(quatType< T, P > const &x, quatType< T, P > const &y)
Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
glm
Definition: _noise.hpp:11
glm::lessThanEqual
GLM_FUNC_DECL tvec4< bool, P > lessThanEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x <= y.
glm::eulerAngles
GLM_FUNC_DECL tvec3< T, P > eulerAngles(tquat< T, P > const &x)
Returns euler angles, pitch as x, yaw as y, roll as z.
glm::angle
GLM_FUNC_DECL T angle(tquat< T, P > const &x)
Returns the quaternion rotation angle.
glm::slerp
GLM_FUNC_DECL tquat< T, P > slerp(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::notEqual
GLM_FUNC_DECL tvec4< bool, P > notEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x != y.
glm::mat3_cast
GLM_FUNC_DECL tmat3x3< T, P > mat3_cast(tquat< T, P > const &x)
Converts a quaternion to a 3 * 3 matrix.
glm::angleAxis
GLM_FUNC_DECL tquat< T, P > angleAxis(T const &angle, tvec3< T, P > const &axis)
Build a quaternion from an angle and a normalized axis.
glm::lessThan
GLM_FUNC_DECL tvec4< bool, P > lessThan(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison result of x < y.
glm::isinf
GLM_FUNC_DECL tvec4< bool, P > isinf(tquat< T, P > const &x)
Returns true if x holds a positive infinity or negative infinity representation in the underlying imp...
glm::mix
GLM_FUNC_DECL tquat< T, P > mix(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::inverse
GLM_FUNC_DECL tquat< T, P > inverse(tquat< T, P > const &q)
Returns the q inverse.
glm::yaw
GLM_FUNC_DECL T yaw(tquat< T, P > const &x)
Returns yaw value of euler angles expressed in radians.