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322 lines
11 KiB
C++
322 lines
11 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
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/// OpenGL Mathematics (glm.g-truc.net)
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///
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/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
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/// Permission is hereby granted, free of charge, to any person obtaining a copy
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/// of this software and associated documentation files (the "Software"), to deal
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/// in the Software without restriction, including without limitation the rights
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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/// copies of the Software, and to permit persons to whom the Software is
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/// furnished to do so, subject to the following conditions:
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///
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/// The above copyright notice and this permission notice shall be included in
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/// all copies or substantial portions of the Software.
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///
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/// Restrictions:
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/// By making use of the Software for military purposes, you choose to make
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/// a Bunny unhappy.
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///
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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/// THE SOFTWARE.
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///
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/// @ref gtx_dual_quaternion
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/// @file glm/gtx/dual_quaternion.hpp
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/// @date 2013-02-10 / 2013-02-20
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/// @author Maksim Vorobiev (msomeone@gmail.com)
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///
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/// @see core (dependence)
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/// @see gtc_half_float (dependence)
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/// @see gtc_constants (dependence)
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/// @see gtc_quaternion (dependence)
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///
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/// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion
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/// @ingroup gtx
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///
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/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations.
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///
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/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities.
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///////////////////////////////////////////////////////////////////////////////////
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#pragma once
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// Dependency:
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#include "../glm.hpp"
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#include "../gtc/constants.hpp"
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#include "../gtc/quaternion.hpp"
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#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
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# pragma message("GLM: GLM_GTX_dual_quaternion extension included")
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#endif
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namespace glm
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{
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/// @addtogroup gtx_dual_quaternion
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/// @{
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template <typename T, precision P = defaultp>
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struct tdualquat
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{
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typedef T value_type;
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typedef glm::tquat<T, P> part_type;
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# ifdef GLM_META_PROG_HELPERS
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static GLM_RELAXED_CONSTEXPR length_t components = 2;
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static GLM_RELAXED_CONSTEXPR precision prec = P;
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# endif//GLM_META_PROG_HELPERS
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public:
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glm::tquat<T, P> real, dual;
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//////////////////////////////////////
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// Component accesses
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# ifdef GLM_FORCE_SIZE_FUNC
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typedef size_t size_type;
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/// Return the count of components of a dual quaternion
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GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const;
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GLM_FUNC_DECL part_type & operator[](size_type i);
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GLM_FUNC_DECL part_type const & operator[](size_type i) const;
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# else
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typedef length_t length_type;
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/// Return the count of components of a dual quaternion
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GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const;
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GLM_FUNC_DECL part_type & operator[](length_type i);
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GLM_FUNC_DECL part_type const & operator[](length_type i) const;
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# endif//GLM_FORCE_SIZE_FUNC
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//////////////////////////////////////
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// Implicit basic constructors
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GLM_FUNC_DECL tdualquat() GLM_DEFAULT_CTOR;
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GLM_FUNC_DECL tdualquat(tdualquat<T, P> const & d) GLM_DEFAULT;
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template <precision Q>
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GLM_FUNC_DECL tdualquat(tdualquat<T, Q> const & d);
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//////////////////////////////////////
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// Explicit basic constructors
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GLM_FUNC_DECL explicit tdualquat(ctor);
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GLM_FUNC_DECL explicit tdualquat(tquat<T, P> const & real);
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GLM_FUNC_DECL tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation);
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GLM_FUNC_DECL tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);
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//////////////////////////////////////////////////////////////
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// tdualquat conversions
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template <typename U, precision Q>
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GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tdualquat<U, Q> const & q);
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GLM_FUNC_DECL explicit tdualquat(tmat2x4<T, P> const & holder_mat);
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GLM_FUNC_DECL explicit tdualquat(tmat3x4<T, P> const & aug_mat);
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// Operators
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GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m) GLM_DEFAULT;
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template <typename U>
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GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<U, P> const & m);
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template <typename U>
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GLM_FUNC_DECL tdualquat<T, P> & operator*=(U s);
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template <typename U>
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GLM_FUNC_DECL tdualquat<T, P> & operator/=(U s);
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};
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> operator- (
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tquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator+ (
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tdualquat<T, P> const & q,
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tdualquat<T, P> const & p);
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator* (
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tdualquat<T, P> const & q,
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tdualquat<T, P> const & p);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> operator* (
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tquat<T, P> const & q,
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tvec3<T, P> const & v);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> operator* (
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tvec3<T, P> const & v,
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tquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<T, P> operator* (
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tquat<T, P> const & q,
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tvec4<T, P> const & v);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<T, P> operator* (
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tvec4<T, P> const & v,
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tquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator* (
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tdualquat<T, P> const & q,
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T const & s);
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator* (
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T const & s,
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tdualquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> operator/ (
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tdualquat<T, P> const & q,
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T const & s);
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/// Returns the normalized quaternion.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> normalize(
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tdualquat<T, P> const & q);
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/// Returns the linear interpolation of two dual quaternion.
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///
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/// @see gtc_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> lerp(
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tdualquat<T, P> const & x,
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tdualquat<T, P> const & y,
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T const & a);
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/// Returns the q inverse.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> inverse(
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tdualquat<T, P> const & q);
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/// Converts a quaternion to a 2 * 4 matrix.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast(
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tdualquat<T, P> const & x);
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/// Converts a quaternion to a 3 * 4 matrix.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast(
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tdualquat<T, P> const & x);
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/// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(
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tmat2x4<T, P> const & x);
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/// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
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///
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/// @see gtx_dual_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(
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tmat3x4<T, P> const & x);
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/// Dual-quaternion of low single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, lowp> lowp_dualquat;
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/// Dual-quaternion of medium single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, mediump> mediump_dualquat;
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/// Dual-quaternion of high single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, highp> highp_dualquat;
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/// Dual-quaternion of low single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, lowp> lowp_fdualquat;
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/// Dual-quaternion of medium single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, mediump> mediump_fdualquat;
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/// Dual-quaternion of high single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<float, highp> highp_fdualquat;
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/// Dual-quaternion of low double-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<double, lowp> lowp_ddualquat;
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/// Dual-quaternion of medium double-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<double, mediump> mediump_ddualquat;
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/// Dual-quaternion of high double-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef tdualquat<double, highp> highp_ddualquat;
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#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
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/// Dual-quaternion of floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef highp_fdualquat dualquat;
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/// Dual-quaternion of single-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef highp_fdualquat fdualquat;
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#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
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typedef highp_fdualquat dualquat;
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typedef highp_fdualquat fdualquat;
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#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))
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typedef mediump_fdualquat dualquat;
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typedef mediump_fdualquat fdualquat;
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#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))
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typedef lowp_fdualquat dualquat;
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typedef lowp_fdualquat fdualquat;
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#else
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# error "GLM error: multiple default precision requested for single-precision floating-point types"
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#endif
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#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
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/// Dual-quaternion of default double-precision floating-point numbers.
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///
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/// @see gtx_dual_quaternion
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typedef highp_ddualquat ddualquat;
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#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
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typedef highp_ddualquat ddualquat;
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#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
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typedef mediump_ddualquat ddualquat;
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#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))
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typedef lowp_ddualquat ddualquat;
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#else
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# error "GLM error: Multiple default precision requested for double-precision floating-point types"
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#endif
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/// @}
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} //namespace glm
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#include "dual_quaternion.inl"
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