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Add glm 0.9.2
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ExternalLibs/glm/gtx/quaternion.hpp
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ExternalLibs/glm/gtx/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 : 2005-12-21
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// Updated : 2009-05-21
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// Licence : This source is under MIT License
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// File : glm/gtx/quaternion.hpp
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///////////////////////////////////////////////////////////////////////////////////////////////////
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// Dependency:
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// - GLM core
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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_gtx_quaternion
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#define glm_gtx_quaternion
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// Dependency:
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#include "../glm.hpp"
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#include "../gtc/quaternion.hpp"
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#if(defined(GLM_MESSAGES) && !defined(glm_ext))
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# pragma message("GLM: GLM_GTX_quaternion extension included")
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#endif
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namespace glm{
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namespace gtx{
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namespace quaternion ///< GLM_GTX_quaternion extension: Quaternion types and functions
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{
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using namespace gtc::quaternion;
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/// \addtogroup gtx_quaternion
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///@{
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//! Compute a cross product between a quaternion and a vector.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tvec3<valType> cross(
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detail::tquat<valType> const & q,
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detail::tvec3<valType> const & v);
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//! Compute a cross product between a vector and a quaternion.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tvec3<valType> cross(
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detail::tvec3<valType> const & v,
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detail::tquat<valType> const & q);
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//! Compute a point on a path according squad equation.
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//! q1 and q2 are control points; s1 and s2 are intermediate control points.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tquat<valType> squad(
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detail::tquat<valType> const & q1,
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detail::tquat<valType> const & q2,
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detail::tquat<valType> const & s1,
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detail::tquat<valType> const & s2,
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valType const & h);
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//! Returns an intermediate control point for squad interpolation.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tquat<valType> intermediate(
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detail::tquat<valType> const & prev,
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detail::tquat<valType> const & curr,
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detail::tquat<valType> const & next);
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//! Returns a exp of a quaternion.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tquat<valType> exp(
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detail::tquat<valType> const & q,
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valType const & exponent);
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//! Returns a log of a quaternion.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tquat<valType> log(
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detail::tquat<valType> const & q);
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//! Returns x raised to the y power.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tquat<valType> pow(
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detail::tquat<valType> const & x,
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valType const & y);
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//! Returns quarternion square root.
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//! From GLM_GTX_quaternion extension.
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//template <typename valType>
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//detail::tquat<valType> sqrt(
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// detail::tquat<valType> const & q);
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//! Rotates a 3 components vector by a quaternion.
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//! From GLM_GTX_transform extension.
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template <typename valType>
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detail::tvec3<valType> rotate(
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detail::tquat<valType> const & q,
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detail::tvec3<valType> const & v);
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//! Rotates a 4 components vector by a quaternion.
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//! From GLM_GTX_transform extension.
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template <typename valType>
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detail::tvec4<valType> rotate(
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detail::tquat<valType> const & q,
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detail::tvec4<valType> const & v);
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//! Returns the quaternion rotation angle.
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//! From GLM_GTX_quaternion extension.
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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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//! From GLM_GTX_quaternion extension.
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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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//! From GLM_GTX_quaternion extension.
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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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//! From GLM_GTX_quaternion extension.
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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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//! Extract the real component of a quaternion.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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valType extractRealComponent(
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detail::tquat<valType> const & q);
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//! Returns roll value of euler angles.
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//! From GLM_GTX_quaternion extension.
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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.
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//! From GLM_GTX_quaternion extension.
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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.
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//! From GLM_GTX_quaternion extension.
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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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//! Returns euler angles, yitch as x, yaw as y, roll as z.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tvec3<valType> eularAngles(
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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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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tmat3x3<valType> toMat3(
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detail::tquat<valType> const & x){return gtc::quaternion::mat3_cast(x);}
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//! Converts a quaternion to a 4 * 4 matrix.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tmat4x4<valType> toMat4(
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detail::tquat<valType> const & x){return gtc::quaternion::mat4_cast(x);}
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//! Converts a 3 * 3 matrix to a quaternion.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tquat<valType> toQuat(
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detail::tmat3x3<valType> const & x){return gtc::quaternion::quat_cast(x);}
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//! Converts a 4 * 4 matrix to a quaternion.
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//! From GLM_GTX_quaternion extension.
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template <typename valType>
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detail::tquat<valType> toQuat(
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detail::tmat4x4<valType> const & x){return gtc::quaternion::quat_cast(x);}
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//! Quaternion interpolation using the rotation short path.
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//! From GLM_GTX_quaternion extension.
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template <typename T>
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detail::tquat<T> shortMix(
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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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//! Quaternion normalized linear interpolation.
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//! From GLM_GTX_quaternion extension.
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template <typename T>
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detail::tquat<T> fastMix(
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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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/// @}
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}//namespace quaternion
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}//namespace gtx
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} //namespace glm
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#include "quaternion.inl"
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namespace glm{using namespace gtx::quaternion;}
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#endif//glm_gtx_quaternion
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