GLM  0.9.5
dual_quaternion.hpp
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1 
41 #ifndef GLM_GTX_dual_quaternion
42 #define GLM_GTX_dual_quaternion
43 
44 // Dependency:
45 #include "../glm.hpp"
46 #include "../gtc/constants.hpp"
47 #include "../gtc/quaternion.hpp"
48 
49 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
50 # pragma message("GLM: GLM_GTX_dual_quaternion extension included")
51 #endif
52 
53 namespace glm{
54 namespace detail
55 {
56  template <typename T, precision P>
57  struct tdualquat
58  {
59  enum ctor{null};
60 
61  typedef glm::detail::tquat<T, P> part_type;
62 
63  public:
64  glm::detail::tquat<T, P> real, dual;
65 
66  GLM_FUNC_DECL GLM_CONSTEXPR int length() const;
67 
68  // Constructors
69  tdualquat();
70  explicit tdualquat(tquat<T, P> const & real);
71  tdualquat(tquat<T, P> const & real,tquat<T, P> const & dual);
72  tdualquat(tquat<T, P> const & orientation,tvec3<T, P> const& translation);
73 
75  // tdualquat conversions
76  explicit tdualquat(tmat2x4<T, P> const & holder_mat);
77  explicit tdualquat(tmat3x4<T, P> const & aug_mat);
78 
79  // Accesses
80  part_type & operator[](int i);
81  part_type const & operator[](int i) const;
82 
83  // Operators
84  tdualquat<T, P> & operator*=(T const & s);
85  tdualquat<T, P> & operator/=(T const & s);
86  };
87 
88  template <typename T, precision P>
89  detail::tquat<T, P> operator- (
90  detail::tquat<T, P> const & q);
91 
92  template <typename T, precision P>
93  detail::tdualquat<T, P> operator+ (
94  detail::tdualquat<T, P> const & q,
95  detail::tdualquat<T, P> const & p);
96 
97  template <typename T, precision P>
98  detail::tdualquat<T, P> operator* (
99  detail::tdualquat<T, P> const & q,
100  detail::tdualquat<T, P> const & p);
101 
102  template <typename T, precision P>
103  detail::tvec3<T, P> operator* (
104  detail::tquat<T, P> const & q,
105  detail::tvec3<T, P> const & v);
106 
107  template <typename T, precision P>
108  detail::tvec3<T, P> operator* (
109  detail::tvec3<T, P> const & v,
110  detail::tquat<T, P> const & q);
111 
112  template <typename T, precision P>
113  detail::tvec4<T, P> operator* (
114  detail::tquat<T, P> const & q,
115  detail::tvec4<T, P> const & v);
116 
117  template <typename T, precision P>
118  detail::tvec4<T, P> operator* (
119  detail::tvec4<T, P> const & v,
120  detail::tquat<T, P> const & q);
121 
122  template <typename T, precision P>
123  detail::tdualquat<T, P> operator* (
124  detail::tdualquat<T, P> const & q,
125  T const & s);
126 
127  template <typename T, precision P>
128  detail::tdualquat<T, P> operator* (
129  T const & s,
130  detail::tdualquat<T, P> const & q);
131 
132  template <typename T, precision P>
133  detail::tdualquat<T, P> operator/ (
134  detail::tdualquat<T, P> const & q,
135  T const & s);
136 } //namespace detail
137 
140 
144  template <typename T, precision P>
145  detail::tdualquat<T, P> normalize(
146  detail::tdualquat<T, P> const & q);
147 
151  template <typename T, precision P>
152  detail::tdualquat<T, P> lerp(
153  detail::tdualquat<T, P> const & x,
154  detail::tdualquat<T, P> const & y,
155  T const & a);
156 
160  template <typename T, precision P>
161  detail::tdualquat<T, P> inverse(
162  detail::tdualquat<T, P> const & q);
163 
164  /*
169  template <typename T, precision P>
170  detail::tmat3x3<T, P> mat3_cast(
171  detail::tdualquat<T, P> const & x);
172  */
173 
177  template <typename T, precision P>
178  detail::tmat2x4<T, P> mat2x4_cast(
179  detail::tdualquat<T, P> const & x);
180 
184  template <typename T, precision P>
185  detail::tmat3x4<T, P> mat3x4_cast(
186  detail::tdualquat<T, P> const & x);
187 
191  template <typename T, precision P>
192  detail::tdualquat<T, P> dualquat_cast(
193  detail::tmat2x4<T, P> const & x);
194 
198  template <typename T, precision P>
199  detail::tdualquat<T, P> dualquat_cast(
200  detail::tmat3x4<T, P> const & x);
201 
202 
206  typedef detail::tdualquat<float, lowp> lowp_dualquat;
207 
211  typedef detail::tdualquat<float, mediump> mediump_dualquat;
212 
216  typedef detail::tdualquat<float, highp> highp_dualquat;
217 
218 
222  typedef detail::tdualquat<float, lowp> lowp_fdualquat;
223 
227  typedef detail::tdualquat<float, mediump> mediump_fdualquat;
228 
232  typedef detail::tdualquat<float, highp> highp_fdualquat;
233 
234 
238  typedef detail::tdualquat<double, lowp> lowp_ddualquat;
239 
243  typedef detail::tdualquat<double, mediump> mediump_ddualquat;
244 
248  typedef detail::tdualquat<double, highp> highp_ddualquat;
249 
250 
251 #if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
252  typedef highp_fdualquat dualquat;
256 
260  typedef highp_fdualquat fdualquat;
261 #elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
262  typedef highp_fdualquat dualquat;
263  typedef highp_fdualquat fdualquat;
264 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
265  typedef mediump_fdualquat dualquat;
266  typedef mediump_fdualquat fdualquat;
267 #elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
268  typedef lowp_fdualquat dualquat;
269  typedef lowp_fdualquat fdualquat;
270 #else
271 # error "GLM error: multiple default precision requested for single-precision floating-point types"
272 #endif
273 
274 
275 #if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
276  typedef highp_ddualquat ddualquat;
280 #elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
281  typedef highp_ddualquat ddualquat;
282 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
283  typedef mediump_ddualquat ddualquat;
284 #elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
285  typedef lowp_ddualquat ddualquat;
286 #else
287 # error "GLM error: Multiple default precision requested for double-precision floating-point types"
288 #endif
289 
291 } //namespace glm
292 
293 #include "dual_quaternion.inl"
294 
295 #endif//GLM_GTX_dual_quaternion
glm::highp_dualquat
detail::tdualquat< float, highp > highp_dualquat
Dual-quaternion of high single-precision floating-point numbers.
Definition: dual_quaternion.hpp:216
glm::lerp
GLM_FUNC_DECL detail::tquat< T, P > lerp(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y, T const &a)
Linear interpolation of two quaternions.
glm::mat3x4_cast
detail::tmat3x4< T, P > mat3x4_cast(detail::tdualquat< T, P > const &x)
Converts a quaternion to a 3 * 4 matrix.
glm::highp_ddualquat
detail::tdualquat< double, highp > highp_ddualquat
Dual-quaternion of high double-precision floating-point numbers.
Definition: dual_quaternion.hpp:248
glm::fdualquat
highp_fdualquat fdualquat
Dual-quaternion of single-precision floating-point numbers.
Definition: dual_quaternion.hpp:260
glm::lowp_ddualquat
detail::tdualquat< double, lowp > lowp_ddualquat
Dual-quaternion of low double-precision floating-point numbers.
Definition: dual_quaternion.hpp:238
glm::orientation
detail::tmat4x4< T, P > orientation(detail::tvec3< T, P > const &Normal, detail::tvec3< T, P > const &Up)
Build a rotation matrix from a normal and a up vector.
glm::normalize
GLM_FUNC_DECL genType normalize(genType const &x)
Returns a vector in the same direction as x but with length of 1.
glm::mediump_ddualquat
detail::tdualquat< double, mediump > mediump_ddualquat
Dual-quaternion of medium double-precision floating-point numbers.
Definition: dual_quaternion.hpp:243
glm::lowp_dualquat
detail::tdualquat< float, lowp > lowp_dualquat
Dual-quaternion of low single-precision floating-point numbers.
Definition: dual_quaternion.hpp:206
glm::length
GLM_FUNC_DECL genType::value_type length(genType const &x)
Returns the length of x, i.e., sqrt(x * x).
glm::inverse
GLM_FUNC_DECL matType< T, P > inverse(matType< T, P > const &m)
Return the inverse of a squared matrix.
glm::dualquat_cast
detail::tdualquat< T, P > dualquat_cast(detail::tmat2x4< T, P > const &x)
Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion. ...
glm::ddualquat
highp_ddualquat ddualquat
Dual-quaternion of default double-precision floating-point numbers.
Definition: dual_quaternion.hpp:279
glm::mat2x4_cast
detail::tmat2x4< T, P > mat2x4_cast(detail::tdualquat< T, P > const &x)
Converts a quaternion to a 2 * 4 matrix.
glm::mediump_fdualquat
detail::tdualquat< float, mediump > mediump_fdualquat
Dual-quaternion of medium single-precision floating-point numbers.
Definition: dual_quaternion.hpp:227
glm::lowp_fdualquat
detail::tdualquat< float, lowp > lowp_fdualquat
Dual-quaternion of low single-precision floating-point numbers.
Definition: dual_quaternion.hpp:222
glm::highp_fdualquat
detail::tdualquat< float, highp > highp_fdualquat
Dual-quaternion of high single-precision floating-point numbers.
Definition: dual_quaternion.hpp:232
glm::mediump_dualquat
detail::tdualquat< float, mediump > mediump_dualquat
Dual-quaternion of medium single-precision floating-point numbers.
Definition: dual_quaternion.hpp:211
glm::dualquat
highp_fdualquat dualquat
Dual-quaternion of floating-point numbers.
Definition: dual_quaternion.hpp:255
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