43 #include "../mat3x3.hpp"
44 #include "../mat4x4.hpp"
45 #include "../vec3.hpp"
46 #include "../vec4.hpp"
47 #include "../gtc/constants.hpp"
49 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
50 # pragma message("GLM: GLM_GTC_quaternion extension included")
58 template <
typename T, precision P>
62 typedef tvec4<bool, P> bool_type;
67 #if GLM_FORCE_SIZE_FUNC
68 GLM_FUNC_DECL GLM_CONSTEXPR
size_t size()
const;
71 GLM_FUNC_DECL GLM_CONSTEXPR length_t
length()
const;
73 #endif//GLM_FORCE_SIZE_FUNC
78 GLM_FUNC_DECL T & operator[](length_t i);
79 GLM_FUNC_DECL T
const & operator[](length_t i)
const;
84 GLM_FUNC_DECL tquat();
85 template <precision Q>
86 GLM_FUNC_DECL tquat(tquat<T, Q>
const & q);
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);
98 # ifdef GLM_FORCE_EXPLICIT_CTOR
99 template <
typename U, precision Q>
100 GLM_FUNC_DECL
explicit tquat(tquat<U, Q>
const & q);
102 template <
typename U, precision Q>
103 GLM_FUNC_DECL tquat(tquat<U, Q>
const & q);
107 GLM_FUNC_DECL
explicit operator tmat3x3<T, P>();
108 GLM_FUNC_DECL
explicit operator tmat4x4<T, P>();
116 GLM_FUNC_DECL
explicit tquat(tvec3<T, P>
const & u, tvec3<T, P>
const & v);
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);
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);
131 template <
typename T, precision P>
132 GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P>
const & q);
134 template <
typename T, precision P>
135 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P>
const & q, tquat<T, P>
const & p);
137 template <
typename T, precision P>
138 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P>
const & q, tquat<T, P>
const & p);
140 template <
typename T, precision P>
141 GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P>
const & q, tvec3<T, P>
const & v);
143 template <
typename T, precision P>
144 GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P>
const & v, tquat<T, P>
const & q);
146 template <
typename T, precision P>
147 GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P>
const & q, tvec4<T, P>
const & v);
149 template <
typename T, precision P>
150 GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P>
const & v, tquat<T, P>
const & q);
152 template <
typename T, precision P>
153 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P>
const & q, T
const & s);
155 template <
typename T, precision P>
156 GLM_FUNC_DECL tquat<T, P> operator*(T
const & s, tquat<T, P>
const & q);
158 template <
typename T, precision P>
159 GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P>
const & q, T
const & s);
164 template <
typename T, precision P>
165 GLM_FUNC_DECL T
length(tquat<T, P>
const & q);
170 template <
typename T, precision P>
171 GLM_FUNC_DECL tquat<T, P>
normalize(tquat<T, P>
const & q);
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);
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);
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);
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);
217 template <
typename T, precision P>
218 GLM_FUNC_DECL tquat<T, P>
conjugate(tquat<T, P>
const & q);
223 template <
typename T, precision P>
224 GLM_FUNC_DECL tquat<T, P>
inverse(tquat<T, P>
const & q);
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);
240 template <
typename T, precision P>
241 GLM_FUNC_DECL tvec3<T, P>
eulerAngles(tquat<T, P>
const & x);
246 template <
typename T, precision P>
247 GLM_FUNC_DECL T
roll(tquat<T, P>
const & x);
252 template <
typename T, precision P>
253 GLM_FUNC_DECL T
pitch(tquat<T, P>
const & x);
258 template <
typename T, precision P>
259 GLM_FUNC_DECL T
yaw(tquat<T, P>
const & x);
264 template <
typename T, precision P>
265 GLM_FUNC_DECL tmat3x3<T, P>
mat3_cast(tquat<T, P>
const & x);
270 template <
typename T, precision P>
271 GLM_FUNC_DECL tmat4x4<T, P>
mat4_cast(tquat<T, P>
const & x);
276 template <
typename T, precision P>
277 GLM_FUNC_DECL tquat<T, P>
quat_cast(tmat3x3<T, P>
const & x);
282 template <
typename T, precision P>
283 GLM_FUNC_DECL tquat<T, P>
quat_cast(tmat4x4<T, P>
const & x);
288 template <
typename T, precision P>
289 GLM_FUNC_DECL T
angle(tquat<T, P>
const & x);
294 template <
typename T, precision P>
295 GLM_FUNC_DECL tvec3<T, P>
axis(tquat<T, P>
const & x);
303 template <
typename T, precision P>
311 template <
typename T, precision P>
312 GLM_FUNC_DECL tvec4<bool, P>
lessThan(tquat<T, P>
const & x, tquat<T, P>
const & y);
319 template <
typename T, precision P>
320 GLM_FUNC_DECL tvec4<bool, P>
lessThanEqual(tquat<T, P>
const & x, tquat<T, P>
const & y);
327 template <
typename T, precision P>
328 GLM_FUNC_DECL tvec4<bool, P>
greaterThan(tquat<T, P>
const & x, tquat<T, P>
const & y);
335 template <
typename T, precision P>
336 GLM_FUNC_DECL tvec4<bool, P>
greaterThanEqual(tquat<T, P>
const & x, tquat<T, P>
const & y);
343 template <
typename T, precision P>
344 GLM_FUNC_DECL tvec4<bool, P>
equal(tquat<T, P>
const & x, tquat<T, P>
const & y);
351 template <
typename T, precision P>
352 GLM_FUNC_DECL tvec4<bool, P>
notEqual(tquat<T, P>
const & x, tquat<T, P>
const & y);
356 #include "quaternion.inl"
GLM_FUNC_DECL tquat< T, P > normalize(tquat< T, P > const &q)
Returns the normalized quaternion.
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_FUNC_DECL T yaw(tquat< T, P > const &x)
Returns yaw value of euler angles expressed in radians.
GLM_FUNC_DECL tquat< T, P > inverse(tquat< T, P > const &q)
Returns the q inverse.
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_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_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_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_FUNC_DECL tquat< T, P > quat_cast(tmat4x4< T, P > const &x)
Converts a 4 * 4 matrix to a quaternion.
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_FUNC_DECL tvec3< T, P > eulerAngles(tquat< T, P > const &x)
Returns euler angles, yitch as x, yaw as y, roll as z.
GLM_FUNC_DECL tquat< T, P > conjugate(tquat< T, P > const &q)
Returns the q conjugate.
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_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.
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_FUNC_DECL tmat4x4< T, P > mat4_cast(tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 matrix.
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_FUNC_DECL tmat3x3< T, P > mat3_cast(tquat< T, P > const &x)
Converts a quaternion to a 3 * 3 matrix.
GLM_FUNC_DECL T angle(tquat< T, P > const &x)
Returns the quaternion rotation angle.
GLM_FUNC_DECL T roll(tquat< T, P > const &x)
Returns roll value of euler angles expressed in radians.
GLM_FUNC_DECL tvec3< T, P > axis(tquat< T, P > const &x)
Returns the q rotation axis.
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_FUNC_DECL T pitch(tquat< T, P > const &x)
Returns pitch value of euler angles expressed in radians.
GLM_FUNC_DECL T length(tquat< T, P > const &q)
Returns the length of the quaternion.
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.