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19 KiB
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243 lines
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<div class="title">quaternion.hpp</div> </div>
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<a href="a00092.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
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<a name="l00034"></a>00034
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<a name="l00038"></a>00038
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<a name="l00039"></a>00039 <span class="preprocessor">#ifndef GLM_GTX_quaternion</span>
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<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define GLM_GTX_quaternion GLM_VERSION</span>
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<a name="l00041"></a>00041 <span class="preprocessor"></span>
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<a name="l00042"></a>00042 <span class="comment">// Dependency:</span>
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<a name="l00043"></a>00043 <span class="preprocessor">#include "../glm.hpp"</span>
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<a name="l00044"></a>00044 <span class="preprocessor">#include "../gtc/quaternion.hpp"</span>
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<a name="l00045"></a>00045
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<a name="l00046"></a>00046 <span class="preprocessor">#if(defined(GLM_MESSAGES) && !defined(glm_ext))</span>
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<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor"># pragma message("GLM: GLM_GTX_quaternion extension included")</span>
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<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
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<a name="l00049"></a>00049 <span class="preprocessor"></span>
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<a name="l00050"></a>00050 <span class="keyword">namespace </span>glm
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<a name="l00051"></a>00051 {
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<a name="l00054"></a>00054
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<a name="l00057"></a>00057 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00058"></a>00058 detail::tvec3<valType> <a class="code" href="a00144.html#gaa127ddc9d38f715125f91742d399eb6f" title="Returns the cross product of x and y.">cross</a>(
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<a name="l00059"></a>00059 detail::tquat<valType> <span class="keyword">const</span> & q,
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<a name="l00060"></a>00060 detail::tvec3<valType> <span class="keyword">const</span> & v);
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<a name="l00061"></a>00061
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<a name="l00064"></a>00064 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00065"></a>00065 detail::tvec3<valType> <a class="code" href="a00144.html#gaa127ddc9d38f715125f91742d399eb6f" title="Returns the cross product of x and y.">cross</a>(
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<a name="l00066"></a>00066 detail::tvec3<valType> <span class="keyword">const</span> & v,
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<a name="l00067"></a>00067 detail::tquat<valType> <span class="keyword">const</span> & q);
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<a name="l00068"></a>00068
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<a name="l00072"></a>00072 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00073"></a>00073 detail::tquat<valType> <a class="code" href="a00210.html#ga3e9e70938d0e5528edddadb175f8eda4" title="Compute a point on a path according squad equation.">squad</a>(
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<a name="l00074"></a>00074 detail::tquat<valType> <span class="keyword">const</span> & q1,
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<a name="l00075"></a>00075 detail::tquat<valType> <span class="keyword">const</span> & q2,
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<a name="l00076"></a>00076 detail::tquat<valType> <span class="keyword">const</span> & s1,
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<a name="l00077"></a>00077 detail::tquat<valType> <span class="keyword">const</span> & s2,
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<a name="l00078"></a>00078 valType <span class="keyword">const</span> & h);
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<a name="l00079"></a>00079
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<a name="l00082"></a>00082 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00083"></a>00083 detail::tquat<valType> <a class="code" href="a00210.html#gadf15938f0260ed8894cc39be603fc4e9" title="Returns an intermediate control point for squad interpolation.">intermediate</a>(
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<a name="l00084"></a>00084 detail::tquat<valType> <span class="keyword">const</span> & prev,
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<a name="l00085"></a>00085 detail::tquat<valType> <span class="keyword">const</span> & curr,
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<a name="l00086"></a>00086 detail::tquat<valType> <span class="keyword">const</span> & next);
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<a name="l00087"></a>00087
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<a name="l00090"></a>00090 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00091"></a>00091 detail::tquat<valType> <a class="code" href="a00143.html#ga03903bb9395a13d554a5fbecdf67792b" title="Returns the natural exponentiation of x, i.e., e^x.">exp</a>(
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<a name="l00092"></a>00092 detail::tquat<valType> <span class="keyword">const</span> & q,
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<a name="l00093"></a>00093 valType <span class="keyword">const</span> & exponent);
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<a name="l00094"></a>00094
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<a name="l00097"></a>00097 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00098"></a>00098 detail::tquat<valType> <a class="code" href="a00143.html#ga46a307f466090551e328eec42abf61bc" title="Returns the natural logarithm of x, i.e., returns the value y which satisfies the equation x = e^y...">log</a>(
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<a name="l00099"></a>00099 detail::tquat<valType> <span class="keyword">const</span> & q);
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<a name="l00100"></a>00100
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<a name="l00103"></a>00103 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00104"></a>00104 detail::tquat<valType> <a class="code" href="a00143.html#gac93ea301c287d87a63fa14a4c44b719b" title="Returns x raised to the y power.">pow</a>(
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<a name="l00105"></a>00105 detail::tquat<valType> <span class="keyword">const</span> & x,
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<a name="l00106"></a>00106 valType <span class="keyword">const</span> & y);
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<a name="l00107"></a>00107
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<a name="l00110"></a>00110 <span class="comment">//template <typename valType> </span>
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<a name="l00111"></a>00111 <span class="comment">//detail::tquat<valType> sqrt(</span>
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<a name="l00112"></a>00112 <span class="comment">// detail::tquat<valType> const & q);</span>
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<a name="l00113"></a>00113
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<a name="l00116"></a>00116 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00117"></a>00117 detail::tvec3<valType> <a class="code" href="a00162.html#gaacb9cbe8f93a8fef9dc3e25559df19c0" title="Builds a rotation 4 * 4 matrix created from an axis vector and an angle expressed in degrees...">rotate</a>(
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<a name="l00118"></a>00118 detail::tquat<valType> <span class="keyword">const</span> & q,
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<a name="l00119"></a>00119 detail::tvec3<valType> <span class="keyword">const</span> & v);
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<a name="l00120"></a>00120
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<a name="l00123"></a>00123 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00124"></a>00124 detail::tvec4<valType> <a class="code" href="a00162.html#gaacb9cbe8f93a8fef9dc3e25559df19c0" title="Builds a rotation 4 * 4 matrix created from an axis vector and an angle expressed in degrees...">rotate</a>(
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<a name="l00125"></a>00125 detail::tquat<valType> <span class="keyword">const</span> & q,
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<a name="l00126"></a>00126 detail::tvec4<valType> <span class="keyword">const</span> & v);
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<a name="l00127"></a>00127
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<a name="l00130"></a>00130 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00131"></a>00131 valType <a class="code" href="a00210.html#ga69041d18bd8539fe82d6170932d28362" title="Returns the quaternion rotation angle.">angle</a>(
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<a name="l00132"></a>00132 detail::tquat<valType> <span class="keyword">const</span> & x);
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<a name="l00133"></a>00133
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<a name="l00136"></a>00136 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00137"></a>00137 detail::tvec3<valType> <a class="code" href="a00210.html#ga72457604550d0414e522dbec0d98f276" title="Returns the q rotation axis.">axis</a>(
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<a name="l00138"></a>00138 detail::tquat<valType> <span class="keyword">const</span> & x);
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<a name="l00139"></a>00139
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<a name="l00142"></a>00142 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00143"></a>00143 detail::tquat<valType> <a class="code" href="a00210.html#gaafc03953867e42a39dc08575ad4532ad" title="Build a quaternion from an angle and a normalized axis.">angleAxis</a>(
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<a name="l00144"></a>00144 valType <span class="keyword">const</span> & <a class="code" href="a00210.html#ga69041d18bd8539fe82d6170932d28362" title="Returns the quaternion rotation angle.">angle</a>,
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<a name="l00145"></a>00145 valType <span class="keyword">const</span> & x,
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<a name="l00146"></a>00146 valType <span class="keyword">const</span> & y,
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<a name="l00147"></a>00147 valType <span class="keyword">const</span> & z);
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<a name="l00148"></a>00148
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<a name="l00151"></a>00151 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00152"></a>00152 detail::tquat<valType> <a class="code" href="a00210.html#gaafc03953867e42a39dc08575ad4532ad" title="Build a quaternion from an angle and a normalized axis.">angleAxis</a>(
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<a name="l00153"></a>00153 valType <span class="keyword">const</span> & <a class="code" href="a00210.html#ga69041d18bd8539fe82d6170932d28362" title="Returns the quaternion rotation angle.">angle</a>,
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<a name="l00154"></a>00154 detail::tvec3<valType> <span class="keyword">const</span> & <a class="code" href="a00210.html#ga72457604550d0414e522dbec0d98f276" title="Returns the q rotation axis.">axis</a>);
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<a name="l00155"></a>00155
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<a name="l00158"></a>00158 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00159"></a>00159 valType <a class="code" href="a00210.html#gaa4574d2111d8c55c0e5c531706c0e20d" title="Extract the real component of a quaternion.">extractRealComponent</a>(
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<a name="l00160"></a>00160 detail::tquat<valType> <span class="keyword">const</span> & q);
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<a name="l00161"></a>00161
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<a name="l00164"></a>00164 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00165"></a>00165 valType <a class="code" href="a00210.html#ga7ef4c8c1ce1ca988add2f73392db0a06" title="Returns roll value of euler angles in degrees.">roll</a>(
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<a name="l00166"></a>00166 detail::tquat<valType> <span class="keyword">const</span> & x);
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<a name="l00167"></a>00167
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<a name="l00170"></a>00170 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00171"></a>00171 valType <a class="code" href="a00210.html#gaf2a0323dbf6c6fb3f37b445aa899c1c7" title="Returns pitch value of euler angles in degrees.">pitch</a>(
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<a name="l00172"></a>00172 detail::tquat<valType> <span class="keyword">const</span> & x);
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<a name="l00173"></a>00173
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<a name="l00176"></a>00176 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00177"></a>00177 valType <a class="code" href="a00210.html#gaac012c1a6bc37ce07a87745d9c596eed" title="Returns yaw value of euler angles in degrees.">yaw</a>(
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<a name="l00178"></a>00178 detail::tquat<valType> <span class="keyword">const</span> & x);
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<a name="l00179"></a>00179
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<a name="l00182"></a>00182 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00183"></a>00183 detail::tvec3<valType> <a class="code" href="a00210.html#gaaf23d24e27b4e4954d6e0dcf8cc4451c" title="Returns euler angles, yitch as x, yaw as y, roll as z.">eulerAngles</a>(
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<a name="l00184"></a>00184 detail::tquat<valType> <span class="keyword">const</span> & x);
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<a name="l00185"></a>00185
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<a name="l00188"></a>00188 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00189"></a><a class="code" href="a00210.html#gaae1a23ba337628402dbe68d6567a9444">00189</a> detail::tmat3x3<valType> <a class="code" href="a00210.html#gaae1a23ba337628402dbe68d6567a9444" title="Converts a quaternion to a 3 * 3 matrix.">toMat3</a>(
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<a name="l00190"></a>00190 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<valType></a> <span class="keyword">const</span> & x){<span class="keywordflow">return</span> <a class="code" href="a00164.html#gae04ce320008c9bec0037b4ba21853cb5" title="Converts a quaternion to a 3 * 3 matrix.">mat3_cast</a>(x);}
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<a name="l00191"></a>00191
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<a name="l00194"></a>00194 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00195"></a><a class="code" href="a00210.html#ga14c3426d79fe82b07cd1f3610a18d9f5">00195</a> detail::tmat4x4<valType> <a class="code" href="a00210.html#ga14c3426d79fe82b07cd1f3610a18d9f5" title="Converts a quaternion to a 4 * 4 matrix.">toMat4</a>(
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<a name="l00196"></a>00196 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<valType></a> <span class="keyword">const</span> & x){<span class="keywordflow">return</span> <a class="code" href="a00164.html#ga8c376eb15971eb52d85df5ee26825627" title="Converts a quaternion to a 4 * 4 matrix.">mat4_cast</a>(x);}
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<a name="l00197"></a>00197
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<a name="l00200"></a>00200 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00201"></a><a class="code" href="a00210.html#ga70cb5b2da64a17632dbf151dcfec0150">00201</a> detail::tquat<valType> <a class="code" href="a00210.html#ga70cb5b2da64a17632dbf151dcfec0150" title="Converts a 3 * 3 matrix to a quaternion.">toQuat</a>(
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<a name="l00202"></a>00202 <a class="code" href="a00010.html" title="Template for 3 * 3 matrix of floating-point numbers.">detail::tmat3x3<valType></a> <span class="keyword">const</span> & x){<span class="keywordflow">return</span> <a class="code" href="a00164.html#ga4d37447d81ceade1d10d68c995a4d881" title="Converts a 3 * 3 matrix to a quaternion.">quat_cast</a>(x);}
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<a name="l00203"></a>00203
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<a name="l00206"></a>00206 <span class="keyword">template</span> <<span class="keyword">typename</span> valType>
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<a name="l00207"></a><a class="code" href="a00210.html#ga25b6237ccb6c4a69d57a181aac99aa43">00207</a> detail::tquat<valType> <a class="code" href="a00210.html#ga70cb5b2da64a17632dbf151dcfec0150" title="Converts a 3 * 3 matrix to a quaternion.">toQuat</a>(
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<a name="l00208"></a>00208 <a class="code" href="a00014.html" title="Template for 4 * 4 matrix of floating-point numbers.">detail::tmat4x4<valType></a> <span class="keyword">const</span> & x){<span class="keywordflow">return</span> <a class="code" href="a00164.html#ga4d37447d81ceade1d10d68c995a4d881" title="Converts a 3 * 3 matrix to a quaternion.">quat_cast</a>(x);}
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<a name="l00209"></a>00209
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<a name="l00212"></a>00212 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00213"></a>00213 detail::tquat<T> <a class="code" href="a00210.html#gae2cb4ac4676a57fb6db64aa515e608ab" title="Quaternion interpolation using the rotation short path.">shortMix</a>(
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<a name="l00214"></a>00214 detail::tquat<T> <span class="keyword">const</span> & x,
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<a name="l00215"></a>00215 detail::tquat<T> <span class="keyword">const</span> & y,
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<a name="l00216"></a>00216 T <span class="keyword">const</span> & a);
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<a name="l00217"></a>00217
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<a name="l00220"></a>00220 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00221"></a>00221 detail::tquat<T> <a class="code" href="a00210.html#ga804e80b331a83eed2ed71a5c985593cd" title="Quaternion normalized linear interpolation.">fastMix</a>(
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<a name="l00222"></a>00222 detail::tquat<T> <span class="keyword">const</span> & x,
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<a name="l00223"></a>00223 detail::tquat<T> <span class="keyword">const</span> & y,
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<a name="l00224"></a>00224 T <span class="keyword">const</span> & a);
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<a name="l00225"></a>00225
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<a name="l00227"></a>00227 }<span class="comment">//namespace glm</span>
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<a name="l00228"></a>00228
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<a name="l00229"></a>00229 <span class="preprocessor">#include "quaternion.inl"</span>
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<a name="l00230"></a>00230
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<a name="l00231"></a>00231 <span class="preprocessor">#endif//GLM_GTX_quaternion</span>
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