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dual_quaternion.hpp
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1
16 #pragma once
17
18 // Dependency:
19 #include "../glm.hpp"
20 #include "../gtc/constants.hpp"
21 #include "../gtc/quaternion.hpp"
22
23 #ifndef GLM_ENABLE_EXPERIMENTAL
24 # error "GLM: GLM_GTX_dual_quaternion is an experimetal extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it."
25 #endif
26
27 #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
28 # pragma message("GLM: GLM_GTX_dual_quaternion extension included")
29 #endif
30
31 namespace glm
32 {
35
36 template <typename T, precision P = defaultp>
37 struct tdualquat
38 {
39 // -- Implementation detail --
40
41 typedef T value_type;
42 typedef glm::tquat<T, P> part_type;
43
44 // -- Data --
45
46 glm::tquat<T, P> real, dual;
47
48 // -- Component accesses --
49
50 typedef length_t length_type;
52 GLM_FUNC_DECL static length_type length(){return 2;}
53
54 GLM_FUNC_DECL part_type & operator[](length_type i);
55 GLM_FUNC_DECL part_type const & operator[](length_type i) const;
56
57 // -- Implicit basic constructors --
58
59 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT_CTOR;
60 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const & d) GLM_DEFAULT;
61 template <precision Q>
62 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const & d);
63
64 // -- Explicit basic constructors --
65
66 GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tdualquat(ctor);
67 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real);
68 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation);
69 GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);
70
71 // -- Conversion constructors --
72
73 template <typename U, precision Q>
74 GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, Q> const & q);
75
76 GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat2x4<T, P> const & holder_mat);
77 GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat3x4<T, P> const & aug_mat);
78
79 // -- Unary arithmetic operators --
80
81 GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m) GLM_DEFAULT;
82
83 template <typename U>
84 GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<U, P> const & m);
85 template <typename U>
86 GLM_FUNC_DECL tdualquat<T, P> & operator*=(U s);
87 template <typename U>
88 GLM_FUNC_DECL tdualquat<T, P> & operator/=(U s);
89 };
90
91 // -- Unary bit operators --
92
93 template <typename T, precision P>
94 GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q);
95
96 template <typename T, precision P>
97 GLM_FUNC_DECL tdualquat<T, P> operator-(tdualquat<T, P> const & q);
98
99 // -- Binary operators --
100
101 template <typename T, precision P>
102 GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q, tdualquat<T, P> const & p);
103
104 template <typename T, precision P>
105 GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, tdualquat<T, P> const & p);
106
107 template <typename T, precision P>
108 GLM_FUNC_DECL tvec3<T, P> operator*(tdualquat<T, P> const & q, tvec3<T, P> const & v);
109
110 template <typename T, precision P>
111 GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tdualquat<T, P> const & q);
112
113 template <typename T, precision P>
114 GLM_FUNC_DECL tvec4<T, P> operator*(tdualquat<T, P> const & q, tvec4<T, P> const & v);
115
116 template <typename T, precision P>
117 GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tdualquat<T, P> const & q);
118
119 template <typename T, precision P>
120 GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, T const & s);
121
122 template <typename T, precision P>
123 GLM_FUNC_DECL tdualquat<T, P> operator*(T const & s, tdualquat<T, P> const & q);
124
125 template <typename T, precision P>
126 GLM_FUNC_DECL tdualquat<T, P> operator/(tdualquat<T, P> const & q, T const & s);
127
128 // -- Boolean operators --
129
130 template <typename T, precision P>
131 GLM_FUNC_DECL bool operator==(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
132
133 template <typename T, precision P>
134 GLM_FUNC_DECL bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
135
139 template <typename T, precision P>
140 GLM_FUNC_DECL tdualquat<T, P> normalize(tdualquat<T, P> const & q);
141
145 template <typename T, precision P>
146 GLM_FUNC_DECL tdualquat<T, P> lerp(tdualquat<T, P> const & x, tdualquat<T, P> const & y, T const & a);
147
151 template <typename T, precision P>
152 GLM_FUNC_DECL tdualquat<T, P> inverse(tdualquat<T, P> const & q);
153
157 template <typename T, precision P>
158 GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast(tdualquat<T, P> const & x);
159
163 template <typename T, precision P>
164 GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast(tdualquat<T, P> const & x);
165
169 template <typename T, precision P>
170 GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(tmat2x4<T, P> const & x);
171
175 template <typename T, precision P>
176 GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(tmat3x4<T, P> const & x);
177
178
182 typedef tdualquat<float, lowp> lowp_dualquat;
183
187 typedef tdualquat<float, mediump> mediump_dualquat;
188
192 typedef tdualquat<float, highp> highp_dualquat;
193
194
198 typedef tdualquat<float, lowp> lowp_fdualquat;
199
203 typedef tdualquat<float, mediump> mediump_fdualquat;
204
208 typedef tdualquat<float, highp> highp_fdualquat;
209
210
214 typedef tdualquat<double, lowp> lowp_ddualquat;
215
219 typedef tdualquat<double, mediump> mediump_ddualquat;
220
224 typedef tdualquat<double, highp> highp_ddualquat;
225
226
227 #if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
228 typedef highp_fdualquat dualquat;
232
236 typedef highp_fdualquat fdualquat;
237 #elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
238 typedef highp_fdualquat dualquat;
239 typedef highp_fdualquat fdualquat;
240 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
241 typedef mediump_fdualquat dualquat;
242 typedef mediump_fdualquat fdualquat;
243 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
244 typedef lowp_fdualquat dualquat;
245 typedef lowp_fdualquat fdualquat;
246 #else
247 # error "GLM error: multiple default precision requested for single-precision floating-point types"
248 #endif
249
250
251 #if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
252 typedef highp_ddualquat ddualquat;
256 #elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
257 typedef highp_ddualquat ddualquat;
258 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
259 typedef mediump_ddualquat ddualquat;
260 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
261 typedef lowp_ddualquat ddualquat;
262 #else
263 # error "GLM error: Multiple default precision requested for double-precision floating-point types"
264 #endif
265
267 } //namespace glm
268
269 #include "dual_quaternion.inl"
glm::orientation
GLM_FUNC_DECL tmat4x4< T, P > orientation(tvec3< T, P > const &Normal, tvec3< T, P > const &Up)
Build a rotation matrix from a normal and a up vector.
glm::lowp_fdualquat
tdualquat< float, lowp > lowp_fdualquat
Dual-quaternion of low single-precision floating-point numbers.
Definition: dual_quaternion.hpp:198
glm::dualquat_cast
GLM_FUNC_DECL tdualquat< T, P > dualquat_cast(tmat3x4< T, P > const &x)
Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
glm::fdualquat
highp_fdualquat fdualquat
Dual-quaternion of single-precision floating-point numbers.
Definition: dual_quaternion.hpp:236
glm::mediump_ddualquat
tdualquat< double, mediump > mediump_ddualquat
Dual-quaternion of medium double-precision floating-point numbers.
Definition: dual_quaternion.hpp:219
glm::normalize
GLM_FUNC_DECL tdualquat< T, P > normalize(tdualquat< T, P > const &q)
Returns the normalized quaternion.
glm::mediump_fdualquat
tdualquat< float, mediump > mediump_fdualquat
Dual-quaternion of medium single-precision floating-point numbers.
Definition: dual_quaternion.hpp:203
glm::length
GLM_FUNC_DECL T length(vecType< T, P > const &x)
Returns the length of x, i.e., sqrt(x * x).
glm::lowp_ddualquat
tdualquat< double, lowp > lowp_ddualquat
Dual-quaternion of low double-precision floating-point numbers.
Definition: dual_quaternion.hpp:214
glm::ddualquat
highp_ddualquat ddualquat
Dual-quaternion of default double-precision floating-point numbers.
Definition: dual_quaternion.hpp:255
glm::dualquat
highp_fdualquat dualquat
Dual-quaternion of floating-point numbers.
Definition: dual_quaternion.hpp:231
glm::highp_fdualquat
tdualquat< float, highp > highp_fdualquat
Dual-quaternion of high single-precision floating-point numbers.
Definition: dual_quaternion.hpp:208
glm::mediump_dualquat
tdualquat< float, mediump > mediump_dualquat
Dual-quaternion of medium single-precision floating-point numbers.
Definition: dual_quaternion.hpp:187
glm::lerp
GLM_FUNC_DECL tdualquat< T, P > lerp(tdualquat< T, P > const &x, tdualquat< T, P > const &y, T const &a)
Returns the linear interpolation of two dual quaternion.
glm::mat3x4_cast
GLM_FUNC_DECL tmat3x4< T, P > mat3x4_cast(tdualquat< T, P > const &x)
Converts a quaternion to a 3 * 4 matrix.
glm
Definition: _noise.hpp:11
glm::highp_dualquat
tdualquat< float, highp > highp_dualquat
Dual-quaternion of high single-precision floating-point numbers.
Definition: dual_quaternion.hpp:192
glm::mat2x4_cast
GLM_FUNC_DECL tmat2x4< T, P > mat2x4_cast(tdualquat< T, P > const &x)
Converts a quaternion to a 2 * 4 matrix.
glm::lowp_dualquat
tdualquat< float, lowp > lowp_dualquat
Dual-quaternion of low single-precision floating-point numbers.
Definition: dual_quaternion.hpp:182
glm::inverse
GLM_FUNC_DECL tdualquat< T, P > inverse(tdualquat< T, P > const &q)
Returns the q inverse.
glm::highp_ddualquat
tdualquat< double, highp > highp_ddualquat
Dual-quaternion of high double-precision floating-point numbers.
Definition: dual_quaternion.hpp:224