quaternion.hpp

// OpenGL Mathematics Copyright (c) 2005 - 2009 G-Truc Creation (www.g-truc.net)
// Created : 2009-05-21
// Updated : 2009-06-04
// Licence : This source is under MIT License
// File    : glm/gtc/quaternion.hpp
// Dependency:
// - GLM core
// ToDo:
// - Study constructors with angles and axis
// - Study constructors with vec3 that are the imaginary component of quaternion

#ifndef glm_gtc_quaternion
#define glm_gtc_quaternion

// Dependency:
#include "../glm.hpp"

namespace glm
{
        namespace test{
                bool main_gtc_quaternion();
        }//namespace test

        namespace detail
        {
                template <typename valType> 
                class tquat
                {
                public:
                        valType x, y, z, w;

                        // Constructors
                        tquat();
                        explicit tquat(valType const & s, tvec3<valType> const & v);
                        explicit tquat(valType const & w, valType const & x, valType const & y, valType const & z);

                        // Convertions
                        //explicit tquat(valType const & pitch, valType const & yaw, valType const & roll);
                        explicit tquat(tvec3<valType> const & eulerAngles);
                        explicit tquat(tmat3x3<valType> const & m);
                        explicit tquat(tmat4x4<valType> const & m);

                        // Accesses
                        valType& operator[](int i);
                        valType operator[](int i) const;

                        // Operators
                        tquat<valType>& operator*=(valType const & s);
                        tquat<valType>& operator/=(valType const & s);
                };

                template <typename valType> 
                detail::tquat<valType> operator- (
                        detail::tquat<valType> const & q);

                template <typename valType> 
                detail::tvec3<valType> operator* (
                        detail::tquat<valType> const & q, 
                        detail::tvec3<valType> const & v);

                template <typename valType> 
                detail::tvec3<valType> operator* (
                        detail::tvec3<valType> const & v,
                        detail::tquat<valType> const & q);

                template <typename valType> 
                detail::tvec4<valType> operator* (
                        detail::tquat<valType> const & q, 
                        detail::tvec4<valType> const & v);

                template <typename valType> 
                detail::tvec4<valType> operator* (
                        detail::tvec4<valType> const & v,
                        detail::tquat<valType> const & q);

                template <typename valType> 
                detail::tquat<valType> operator* (
                        detail::tquat<valType> const & q, 
                        valType const & s);

                template <typename valType> 
                detail::tquat<valType> operator* (
                        valType const & s,
                        detail::tquat<valType> const & q);

                template <typename valType> 
                detail::tquat<valType> operator/ (
                        detail::tquat<valType> const & q, 
                        valType const & s);

        } //namespace detail

        namespace gtc{
    namespace quaternion
    {
        template <typename valType> 
                valType length(
                        detail::tquat<valType> const & q);

                template <typename valType> 
                detail::tquat<valType> normalize(
                        detail::tquat<valType> const & q);
                
                template <typename valType> 
                valType dot(
                        detail::tquat<valType> const & q1, 
                        detail::tquat<valType> const & q2);

                template <typename valType> 
                detail::tquat<valType> cross(
                        detail::tquat<valType> const & q1, 
                        detail::tquat<valType> const & q2);
                
                template <typename valType> 
                detail::tquat<valType> mix(
                        detail::tquat<valType> const & x, 
                        detail::tquat<valType> const & y, 
                        valType const & a);
                
        template <typename valType> 
                detail::tquat<valType> conjugate(
                        detail::tquat<valType> const & q);

        template <typename valType> 
                detail::tquat<valType> inverse(
                        detail::tquat<valType> const & q);

                template <typename valType> 
                detail::tquat<valType> rotate(
                        detail::tquat<valType> const & q, 
                        valType const & angle, 
                        detail::tvec3<valType> const & v);

        template <typename valType> 
                detail::tmat3x3<valType> mat3_cast(
                        detail::tquat<valType> const & x);

                template <typename valType> 
                detail::tmat4x4<valType> mat4_cast(
                        detail::tquat<valType> const & x);

                template <typename valType> 
                detail::tquat<valType> quat_cast(
                        detail::tmat3x3<valType> const & x);

                template <typename valType> 
                detail::tquat<valType> quat_cast(
                        detail::tmat4x4<valType> const & x);

        typedef detail::tquat<float> quat;

    }//namespace quaternion
    }//namespace gtc
} //namespace glm

#define GLM_GTC_quaternion namespace gtc::quaternion
#ifndef GLM_GTC_GLOBAL
namespace glm {using GLM_GTC_quaternion;}
#endif//GLM_GTC_GLOBAL

#include "quaternion.inl"

#endif//glm_gtc_quaternion

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