GLM  0.9.5
gtc/quaternion.hpp
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1 
40 #ifndef GLM_GTC_quaternion
41 #define GLM_GTC_quaternion
42 
43 // Dependency:
44 #include "../mat3x3.hpp"
45 #include "../mat4x4.hpp"
46 #include "../vec3.hpp"
47 #include "../vec4.hpp"
48 #include "../gtc/constants.hpp"
49 
50 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
51 # pragma message("GLM: GLM_GTC_quaternion extension included")
52 #endif
53 
54 namespace glm{
55 namespace detail
56 {
57  template <typename T, precision P>
58  struct tquat
59  {
60  enum ctor{null};
61 
62  typedef tvec4<bool, P> bool_type;
63 
64  public:
65  T x, y, z, w;
66 
67  GLM_FUNC_DECL GLM_CONSTEXPR length_t length() const;
68 
69  // Constructors
70  GLM_FUNC_DECL tquat();
71  template <typename U, precision Q>
72  GLM_FUNC_DECL explicit tquat(
73  tquat<U, Q> const & q);
74  GLM_FUNC_DECL explicit tquat(
75  T const & s,
76  tvec3<T, P> const & v);
77  GLM_FUNC_DECL explicit tquat(
78  T const & w,
79  T const & x,
80  T const & y,
81  T const & z);
82 
83 #if(GLM_HAS_INITIALIZER_LISTS)
84  template <typename U>
85  GLM_FUNC_DECL tquat(std::initializer_list<U> l);
86 #endif//GLM_HAS_INITIALIZER_LISTS
87 
88  // Convertions
89 
96  GLM_FUNC_DECL explicit tquat(
97  detail::tvec3<T, P> const & u,
98  detail::tvec3<T, P> const & v);
100  GLM_FUNC_DECL explicit tquat(
101  tvec3<T, P> const & eulerAngles);
102  GLM_FUNC_DECL explicit tquat(
103  tmat3x3<T, P> const & m);
104  GLM_FUNC_DECL explicit tquat(
105  tmat4x4<T, P> const & m);
106 
107  // Accesses
108  GLM_FUNC_DECL T & operator[](length_t i);
109  GLM_FUNC_DECL T const & operator[](length_t i) const;
110 
111  // Operators
112  GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<T, P> const & q);
113  GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<T, P> const & q);
114  GLM_FUNC_DECL tquat<T, P> & operator*=(T const & s);
115  GLM_FUNC_DECL tquat<T, P> & operator/=(T const & s);
116  };
117 
118  template <typename T, precision P>
119  GLM_FUNC_DECL detail::tquat<T, P> operator- (
120  detail::tquat<T, P> const & q);
121 
122  template <typename T, precision P>
123  GLM_FUNC_DECL detail::tquat<T, P> operator+ (
124  detail::tquat<T, P> const & q,
125  detail::tquat<T, P> const & p);
126 
127  template <typename T, precision P>
128  GLM_FUNC_DECL detail::tquat<T, P> operator* (
129  detail::tquat<T, P> const & q,
130  detail::tquat<T, P> const & p);
131 
132  template <typename T, precision P>
133  GLM_FUNC_DECL detail::tvec3<T, P> operator* (
134  detail::tquat<T, P> const & q,
135  detail::tvec3<T, P> const & v);
136 
137  template <typename T, precision P>
138  GLM_FUNC_DECL detail::tvec3<T, P> operator* (
139  detail::tvec3<T, P> const & v,
140  detail::tquat<T, P> const & q);
141 
142  template <typename T, precision P>
143  GLM_FUNC_DECL detail::tvec4<T, P> operator* (
144  detail::tquat<T, P> const & q,
145  detail::tvec4<T, P> const & v);
146 
147  template <typename T, precision P>
148  GLM_FUNC_DECL detail::tvec4<T, P> operator* (
149  detail::tvec4<T, P> const & v,
150  detail::tquat<T, P> const & q);
151 
152  template <typename T, precision P>
153  GLM_FUNC_DECL detail::tquat<T, P> operator* (
154  detail::tquat<T, P> const & q,
155  T const & s);
156 
157  template <typename T, precision P>
158  GLM_FUNC_DECL detail::tquat<T, P> operator* (
159  T const & s,
160  detail::tquat<T, P> const & q);
161 
162  template <typename T, precision P>
163  GLM_FUNC_DECL detail::tquat<T, P> operator/ (
164  detail::tquat<T, P> const & q,
165  T const & s);
166 
167 } //namespace detail
168 
171 
175  template <typename T, precision P>
176  GLM_FUNC_DECL T length(
177  detail::tquat<T, P> const & q);
178 
182  template <typename T, precision P>
183  GLM_FUNC_DECL detail::tquat<T, P> normalize(
184  detail::tquat<T, P> const & q);
185 
189  template <typename T, precision P, template <typename, precision> class quatType>
190  GLM_FUNC_DECL T dot(
191  quatType<T, P> const & x,
192  quatType<T, P> const & y);
193 
204  template <typename T, precision P>
205  GLM_FUNC_DECL detail::tquat<T, P> mix(
206  detail::tquat<T, P> const & x,
207  detail::tquat<T, P> const & y,
208  T const & a);
209 
218  template <typename T, precision P>
219  GLM_FUNC_DECL detail::tquat<T, P> lerp(
220  detail::tquat<T, P> const & x,
221  detail::tquat<T, P> const & y,
222  T const & a);
223 
232  template <typename T, precision P>
233  GLM_FUNC_DECL detail::tquat<T, P> slerp(
234  detail::tquat<T, P> const & x,
235  detail::tquat<T, P> const & y,
236  T const & a);
237 
241  template <typename T, precision P>
242  GLM_FUNC_DECL detail::tquat<T, P> conjugate(
243  detail::tquat<T, P> const & q);
244 
248  template <typename T, precision P>
249  GLM_FUNC_DECL detail::tquat<T, P> inverse(
250  detail::tquat<T, P> const & q);
251 
259  template <typename T, precision P>
260  GLM_FUNC_DECL detail::tquat<T, P> rotate(
261  detail::tquat<T, P> const & q,
262  T const & angle,
263  detail::tvec3<T, P> const & axis);
264 
269  template <typename T, precision P>
270  GLM_FUNC_DECL detail::tvec3<T, P> eulerAngles(
271  detail::tquat<T, P> const & x);
272 
276  template <typename T, precision P>
277  GLM_FUNC_DECL T roll(detail::tquat<T, P> const & x);
278 
282  template <typename T, precision P>
283  GLM_FUNC_DECL T pitch(detail::tquat<T, P> const & x);
284 
288  template <typename T, precision P>
289  GLM_FUNC_DECL T yaw(detail::tquat<T, P> const & x);
290 
294  template <typename T, precision P>
295  GLM_FUNC_DECL detail::tmat3x3<T, P> mat3_cast(
296  detail::tquat<T, P> const & x);
297 
301  template <typename T, precision P>
302  GLM_FUNC_DECL detail::tmat4x4<T, P> mat4_cast(
303  detail::tquat<T, P> const & x);
304 
308  template <typename T, precision P>
309  GLM_FUNC_DECL detail::tquat<T, P> quat_cast(
310  detail::tmat3x3<T, P> const & x);
311 
315  template <typename T, precision P>
316  GLM_FUNC_DECL detail::tquat<T, P> quat_cast(
317  detail::tmat4x4<T, P> const & x);
318 
322  template <typename T, precision P>
323  GLM_FUNC_DECL T angle(detail::tquat<T, P> const & x);
324 
328  template <typename T, precision P>
329  GLM_FUNC_DECL detail::tvec3<T, P> axis(
330  detail::tquat<T, P> const & x);
331 
338  template <typename T, precision P>
339  GLM_FUNC_DECL detail::tquat<T, P> angleAxis(
340  T const & angle,
341  detail::tvec3<T, P> const & axis);
342 
348  template <typename T, precision P>
349  GLM_FUNC_DECL detail::tvec4<bool, P> lessThan(
350  detail::tquat<T, P> const & x,
351  detail::tquat<T, P> const & y);
352 
358  template <typename T, precision P>
359  GLM_FUNC_DECL detail::tvec4<bool, P> lessThanEqual(
360  detail::tquat<T, P> const & x,
361  detail::tquat<T, P> const & y);
362 
368  template <typename T, precision P>
369  GLM_FUNC_DECL detail::tvec4<bool, P> greaterThan(
370  detail::tquat<T, P> const & x,
371  detail::tquat<T, P> const & y);
372 
378  template <typename T, precision P>
379  GLM_FUNC_DECL detail::tvec4<bool, P> greaterThanEqual(
380  detail::tquat<T, P> const & x,
381  detail::tquat<T, P> const & y);
382 
388  template <typename T, precision P>
389  GLM_FUNC_DECL detail::tvec4<bool, P> equal(
390  detail::tquat<T, P> const & x,
391  detail::tquat<T, P> const & y);
392 
398  template <typename T, precision P>
399  GLM_FUNC_DECL detail::tvec4<bool, P> notEqual(
400  detail::tquat<T, P> const & x,
401  detail::tquat<T, P> const & y);
402 
404 } //namespace glm
405 
406 #include "quaternion.inl"
407 
408 #endif//GLM_GTC_quaternion
glm::dot
GLM_FUNC_DECL T dot(vecType< T, P > const &x, vecType< T, P > const &y)
Returns the dot product of x and y, i.e., result = x * y.
glm::notEqual
GLM_FUNC_DECL vecType< T, P >::bool_type notEqual(vecType< T, P > const &x, vecType< T, P > const &y)
Returns the component-wise comparison of result x == y.
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::angleAxis
GLM_FUNC_DECL detail::tquat< T, P > angleAxis(T const &angle, detail::tvec3< T, P > const &axis)
Build a quaternion from an angle and a normalized axis.
glm::quat_cast
GLM_FUNC_DECL detail::tquat< T, P > quat_cast(detail::tmat3x3< T, P > const &x)
Converts a 3 * 3 matrix to a quaternion.
glm::rotate
GLM_FUNC_DECL detail::tmat4x4< T, P > rotate(detail::tmat4x4< T, P > const &m, T const &angle, detail::tvec3< T, P > const &axis)
Builds a rotation 4 * 4 matrix created from an axis vector and an angle.
glm::mix
GLM_FUNC_DECL genTypeT mix(genTypeT const &x, genTypeT const &y, genTypeU const &a)
If genTypeU is a floating scalar or vector: Returns x * (1.0 - a) + y * a, i.e., the linear blend of ...
glm::angle
GLM_FUNC_DECL T angle(detail::tquat< T, P > const &x)
Returns the quaternion rotation angle.
glm::eulerAngles
GLM_FUNC_DECL detail::tvec3< T, P > eulerAngles(detail::tquat< T, P > const &x)
Returns euler angles, yitch as x, yaw as y, roll as z.
glm::greaterThanEqual
GLM_FUNC_DECL vecType< T, P >::bool_type greaterThanEqual(vecType< T, P > const &x, vecType< T, P > const &y)
Returns the component-wise comparison of result x &gt;= y.
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::mat4_cast
GLM_FUNC_DECL detail::tmat4x4< T, P > mat4_cast(detail::tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 matrix.
glm::length
GLM_FUNC_DECL genType::value_type length(genType const &x)
Returns the length of x, i.e., sqrt(x * x).
glm::roll
GLM_FUNC_DECL T roll(detail::tquat< T, P > const &x)
Returns roll value of euler angles expressed in radians if GLM_FORCE_RADIANS is defined or degrees ot...
glm::inverse
GLM_FUNC_DECL matType< T, P > inverse(matType< T, P > const &m)
Return the inverse of a squared matrix.
glm::lessThan
GLM_FUNC_DECL detail::tvec4< bool, P > lessThan(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y)
Returns the component-wise comparison result of x &lt; y.
glm::mat3_cast
GLM_FUNC_DECL detail::tmat3x3< T, P > mat3_cast(detail::tquat< T, P > const &x)
Converts a quaternion to a 3 * 3 matrix.
glm::axis
GLM_FUNC_DECL detail::tvec3< T, P > axis(detail::tquat< T, P > const &x)
Returns the q rotation axis.
glm::equal
GLM_FUNC_DECL detail::tvec4< bool, P > equal(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y)
Returns the component-wise comparison of result x == y.
glm::slerp
GLM_FUNC_DECL detail::tquat< T, P > slerp(detail::tquat< T, P > const &x, detail::tquat< T, P > const &y, T const &a)
Spherical linear interpolation of two quaternions.
Definition: compatibility.hpp:73
glm::pitch
GLM_FUNC_DECL T pitch(detail::tquat< T, P > const &x)
Returns pitch value of euler angles expressed in radians if GLM_FORCE_RADIANS is defined or degrees o...
glm::conjugate
GLM_FUNC_DECL detail::tquat< T, P > conjugate(detail::tquat< T, P > const &q)
Returns the q conjugate.
glm::greaterThan
GLM_FUNC_DECL vecType< T, P >::bool_type greaterThan(vecType< T, P > const &x, vecType< T, P > const &y)
Returns the component-wise comparison of result x &gt; y.
glm::yaw
GLM_FUNC_DECL T yaw(detail::tquat< T, P > const &x)
Returns yaw value of euler angles expressed in radians if GLM_FORCE_RADIANS is defined or degrees oth...
glm::lessThanEqual
GLM_FUNC_DECL vecType< T, P >::bool_type lessThanEqual(vecType< T, P > const &x, vecType< T, P > const &y)
Returns the component-wise comparison result of x &lt; y.
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