0.9.6
gtc/quaternion.hpp
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1 
40 #pragma once
41 
42 // Dependency:
43 #include "../mat3x3.hpp"
44 #include "../mat4x4.hpp"
45 #include "../vec3.hpp"
46 #include "../vec4.hpp"
47 #include "../gtc/constants.hpp"
48 
49 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
50 # pragma message("GLM: GLM_GTC_quaternion extension included")
51 #endif
52 
53 namespace glm
54 {
57 
58  template <typename T, precision P>
59  struct tquat
60  {
61  typedef T value_type;
62  typedef tvec4<bool, P> bool_type;
63 
64  public:
65  T x, y, z, w;
66 
67 #if GLM_FORCE_SIZE_FUNC
68  GLM_FUNC_DECL GLM_CONSTEXPR size_t size() const;
70 #else
71  GLM_FUNC_DECL GLM_CONSTEXPR length_t length() const;
73 #endif//GLM_FORCE_SIZE_FUNC
74 
76  // Accesses
77 
78  GLM_FUNC_DECL T & operator[](length_t i);
79  GLM_FUNC_DECL T const & operator[](length_t i) const;
80 
82  // Implicit basic constructors
83 
84  GLM_FUNC_DECL tquat();
85  template <precision Q>
86  GLM_FUNC_DECL tquat(tquat<T, Q> const & q);
87 
89  // Explicit basic constructors
90 
91  GLM_FUNC_DECL explicit tquat(ctor);
92  GLM_FUNC_DECL explicit tquat(T const & s, tvec3<T, P> const & v);
93  GLM_FUNC_DECL tquat(T const & w, T const & x, T const & y, T const & z);
94 
96  // Convertions
97 
98 # ifdef GLM_FORCE_EXPLICIT_CTOR
99  template <typename U, precision Q>
100  GLM_FUNC_DECL explicit tquat(tquat<U, Q> const & q);
101 # else
102  template <typename U, precision Q>
103  GLM_FUNC_DECL tquat(tquat<U, Q> const & q);
104 # endif
105 
106  // explicit conversion operators
107  GLM_FUNC_DECL explicit operator tmat3x3<T, P>();
108  GLM_FUNC_DECL explicit operator tmat4x4<T, P>();
109 
116  GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & u, tvec3<T, P> const & v);
117 
119  GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & eulerAngles);
120  GLM_FUNC_DECL explicit tquat(tmat3x3<T, P> const & m);
121  GLM_FUNC_DECL explicit tquat(tmat4x4<T, P> const & m);
122 
124  // Operators
125  GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<T, P> const & q);
126  GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<T, P> const & q);
127  GLM_FUNC_DECL tquat<T, P> & operator*=(T const & s);
128  GLM_FUNC_DECL tquat<T, P> & operator/=(T const & s);
129  };
130 
131  template <typename T, precision P>
132  GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q);
133 
134  template <typename T, precision P>
135  GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p);
136 
137  template <typename T, precision P>
138  GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p);
139 
140  template <typename T, precision P>
141  GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v);
142 
143  template <typename T, precision P>
144  GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q);
145 
146  template <typename T, precision P>
147  GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v);
148 
149  template <typename T, precision P>
150  GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q);
151 
152  template <typename T, precision P>
153  GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s);
154 
155  template <typename T, precision P>
156  GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q);
157 
158  template <typename T, precision P>
159  GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s);
160 
164  template <typename T, precision P>
165  GLM_FUNC_DECL T length(tquat<T, P> const & q);
166 
170  template <typename T, precision P>
171  GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q);
172 
176  template <typename T, precision P, template <typename, precision> class quatType>
177  GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y);
178 
189  template <typename T, precision P>
190  GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T const & a);
191 
200  template <typename T, precision P>
201  GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a);
202 
211  template <typename T, precision P>
212  GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a);
213 
217  template <typename T, precision P>
218  GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q);
219 
223  template <typename T, precision P>
224  GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q);
225 
233  template <typename T, precision P>
234  GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis);
235 
240  template <typename T, precision P>
241  GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x);
242 
246  template <typename T, precision P>
247  GLM_FUNC_DECL T roll(tquat<T, P> const & x);
248 
252  template <typename T, precision P>
253  GLM_FUNC_DECL T pitch(tquat<T, P> const & x);
254 
258  template <typename T, precision P>
259  GLM_FUNC_DECL T yaw(tquat<T, P> const & x);
260 
264  template <typename T, precision P>
265  GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x);
266 
270  template <typename T, precision P>
271  GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x);
272 
276  template <typename T, precision P>
277  GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x);
278 
282  template <typename T, precision P>
283  GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x);
284 
288  template <typename T, precision P>
289  GLM_FUNC_DECL T angle(tquat<T, P> const & x);
290 
294  template <typename T, precision P>
295  GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x);
296 
303  template <typename T, precision P>
304  GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis);
305 
311  template <typename T, precision P>
312  GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y);
313 
319  template <typename T, precision P>
320  GLM_FUNC_DECL tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
321 
327  template <typename T, precision P>
328  GLM_FUNC_DECL tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y);
329 
335  template <typename T, precision P>
336  GLM_FUNC_DECL tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
337 
343  template <typename T, precision P>
344  GLM_FUNC_DECL tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y);
345 
351  template <typename T, precision P>
352  GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y);
354 } //namespace glm
355 
356 #include "quaternion.inl"
glm::normalize
GLM_FUNC_DECL tquat< T, P > normalize(tquat< T, P > const &q)
Returns the normalized quaternion.
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::yaw
GLM_FUNC_DECL T yaw(tquat< T, P > const &x)
Returns yaw value of euler angles expressed in radians.
glm::inverse
GLM_FUNC_DECL tquat< T, P > inverse(tquat< T, P > const &q)
Returns the q inverse.
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::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::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::lerp
GLM_FUNC_DECL tquat< T, P > lerp(tquat< T, P > const &x, tquat< T, P > const &y, T const &a)
Linear interpolation of two quaternions.
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
Definition: _noise.hpp:31
glm::mix
GLM_FUNC_DECL tquat< T, P > mix(tquat< T, P > const &x, tquat< T, P > const &y, T const &a)
Spherical linear interpolation of two quaternions.
glm::eulerAngles
GLM_FUNC_DECL tvec3< T, P > eulerAngles(tquat< T, P > const &x)
Returns euler angles, yitch as x, yaw as y, roll as z.
glm::conjugate
GLM_FUNC_DECL tquat< T, P > conjugate(tquat< T, P > const &q)
Returns the q conjugate.
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::slerp
GLM_FUNC_DECL tquat< T, P > slerp(tquat< T, P > const &x, tquat< T, P > const &y, T const &a)
Spherical linear interpolation of two quaternions.
Definition: compatibility.hpp:72
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::mat4_cast
GLM_FUNC_DECL tmat4x4< T, P > mat4_cast(tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 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::mat3_cast
GLM_FUNC_DECL tmat3x3< T, P > mat3_cast(tquat< T, P > const &x)
Converts a quaternion to a 3 * 3 matrix.
glm::angle
GLM_FUNC_DECL T angle(tquat< T, P > const &x)
Returns the quaternion rotation angle.
glm::roll
GLM_FUNC_DECL T roll(tquat< T, P > const &x)
Returns roll value of euler angles expressed in radians.
glm::axis
GLM_FUNC_DECL tvec3< T, P > axis(tquat< T, P > const &x)
Returns the q rotation axis.
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::pitch
GLM_FUNC_DECL T pitch(tquat< T, P > const &x)
Returns pitch value of euler angles expressed in radians.
glm::length
GLM_FUNC_DECL T length(tquat< T, P > const &q)
Returns the length of the quaternion.
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.
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