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Add glm 0.9.2
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ExternalLibs/glm/gtc/quaternion.hpp
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ExternalLibs/glm/gtc/quaternion.hpp
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// OpenGL Mathematics Copyright (c) 2005 - 2011 G-Truc Creation (www.g-truc.net)
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Created : 2009-05-21
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// Updated : 2010-02-04
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// Licence : This source is under MIT License
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// File : glm/gtc/quaternion.hpp
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Dependency:
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// - GLM core
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// - GLM_GTC_half_float
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// ToDo:
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// - Study constructors with angles and axis
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// - Study constructors with vec3 that are the imaginary component of quaternion
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///////////////////////////////////////////////////////////////////////////////////////////////////
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#ifndef glm_gtc_quaternion
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#define glm_gtc_quaternion
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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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#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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//! \brief Template for quaternion.
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//! From GLM_GTC_quaternion extension.
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/// \ingroup gtc_quaternion
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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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typedef T value_type;
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public:
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value_type x, y, z, w;
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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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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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//explicit tquat(valType const & pitch, valType const & yaw, valType const & roll);
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//! pitch, yaw, roll
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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::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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namespace gtc{
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namespace quaternion ///< GLM_GTC_quaternion extension: Quaternion types and functions
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{
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/// \addtogroup gtc_quaternion
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///@{
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//! Returns the length of the quaternion x.
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//! From GLM_GTC_quaternion extension.
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template <typename T>
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typename detail::tquat<T>::value_type length(
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detail::tquat<T> const & q);
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//! Returns the normalized quaternion of from x.
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//! From GLM_GTC_quaternion extension.
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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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//! From GLM_GTC_quaternion extension.
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template <typename T>
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typename detail::tquat<T>::value_type dot(
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detail::tquat<T> const & q1,
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detail::tquat<T> const & q2);
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//! Returns the cross product of q1 and q2.
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//! From GLM_GTC_quaternion extension.
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template <typename T>
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GLM_DEPRECATED detail::tquat<T> cross(
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detail::tquat<T> const & q1,
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detail::tquat<T> const & q2);
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//! Returns a SLERP interpolated quaternion of x and y according a.
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//! From GLM_GTC_quaternion extension.
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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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typename detail::tquat<T>::value_type const & a);
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//! Returns the q conjugate.
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//! From GLM_GTC_quaternion extension.
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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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//! From GLM_GTC_quaternion extension.
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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 expressed in degrees.
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//! From GLM_GTC_quaternion extension.
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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 & v);
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//! Converts a quaternion to a 3 * 3 matrix.
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//! From GLM_GTC_quaternion extension.
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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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//! From GLM_GTC_quaternion extension.
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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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//! From GLM_GTC_quaternion extension.
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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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//! From GLM_GTC_quaternion extension.
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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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//! Quaternion of floating-point numbers.
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//! From GLM_GTC_quaternion extension.
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typedef detail::tquat<float> quat;
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//! Quaternion of half-precision floating-point numbers.
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//! From GLM_GTC_quaternion extension.
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typedef detail::tquat<detail::thalf> hquat;
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//! Quaternion of single-precision floating-point numbers.
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//! From GLM_GTC_quaternion extension.
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typedef detail::tquat<float> fquat;
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//! Quaternion of double-precision floating-point numbers.
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//! From GLM_GTC_quaternion extension.
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typedef detail::tquat<double> dquat;
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///@}
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} //namespace quaternion
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} //namespace gtc
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} //namespace glm
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#include "quaternion.inl"
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namespace glm{using namespace gtc::quaternion;}
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#endif//glm_gtc_quaternion
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