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<title>0.9.7: dual_quaternion.hpp Source File</title>
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<div id="projectname">0.9.7
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<li class="navelem"><a class="el" href="dir_275089585c7fc1b5fd5d7d42c69cb1da.html">D:</a></li><li class="navelem"><a class="el" href="dir_7b98f88bffbed4b390b5f8f520d9c08e.html">Source</a></li><li class="navelem"><a class="el" href="dir_1f76e953200861345293ade84ac7fb6c.html">G-Truc</a></li><li class="navelem"><a class="el" href="dir_e29b03b892e0e25920d021a614d4db9b.html">glm</a></li><li class="navelem"><a class="el" href="dir_5ce58d942b2d0776e17a9a58abc01e04.html">glm</a></li><li class="navelem"><a class="el" href="dir_8d176b5b7dd0ae42ea6876078f2bde49.html">gtx</a></li> </ul>
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<div class="header">
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<div class="title">dual_quaternion.hpp</div> </div>
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</div><!--header-->
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<div class="contents">
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<a href="a00019.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> </div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span> </div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="comment">// Dependency:</span></div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="preprocessor">#include "../glm.hpp"</span></div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="preprocessor">#include "../gtc/constants.hpp"</span></div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span> <span class="preprocessor">#include "../gtc/quaternion.hpp"</span></div>
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<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> </div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="preprocessor">#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))</span></div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> <span class="preprocessor"># pragma message("GLM: GLM_GTX_dual_quaternion extension included")</span></div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</span> </div>
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<div class="line"><a name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">namespace </span><a class="code" href="a00146.html">glm</a></div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span> {</div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span> </div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keyword">template</span> <<span class="keyword">typename</span> T, precision P = defaultp></div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keyword">struct </span>tdualquat</div>
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<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  {</div>
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<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="comment">// -- Implementation detail --</span></div>
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<div class="line"><a name="l00065"></a><span class="lineno"> 65</span> </div>
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<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  <span class="keyword">typedef</span> T value_type;</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keyword">typedef</span> glm::tquat<T, P> part_type;</div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span> </div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span> <span class="preprocessor"># ifdef GLM_META_PROG_HELPERS</span></div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="keyword">static</span> GLM_RELAXED_CONSTEXPR length_t components = 2;</div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="keyword">static</span> GLM_RELAXED_CONSTEXPR precision prec = P;</div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> <span class="preprocessor"># endif//GLM_META_PROG_HELPERS</span></div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span> </div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="comment">// -- Data --</span></div>
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<div class="line"><a name="l00075"></a><span class="lineno"> 75</span> </div>
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<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  glm::tquat<T, P> real, dual;</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span> </div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  <span class="comment">// -- Component accesses --</span></div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span> </div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> <span class="preprocessor"># ifdef GLM_FORCE_SIZE_FUNC</span></div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  <span class="keyword">typedef</span> <span class="keywordtype">size_t</span> size_type;</div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  GLM_FUNC_DECL GLM_CONSTEXPR size_type size() <span class="keyword">const</span>;</div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span> </div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  GLM_FUNC_DECL part_type & operator[](size_type i);</div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  GLM_FUNC_DECL part_type <span class="keyword">const</span> & operator[](size_type i) <span class="keyword">const</span>;</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span> <span class="preprocessor"># else</span></div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  <span class="keyword">typedef</span> length_t length_type;</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  GLM_FUNC_DECL GLM_CONSTEXPR length_type <a class="code" href="a00153.html#ga18d45e3d4c7705e67ccfabd99e521604">length</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span> </div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  GLM_FUNC_DECL part_type & operator[](length_type i);</div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  GLM_FUNC_DECL part_type <span class="keyword">const</span> & operator[](length_type i) <span class="keyword">const</span>;</div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span> <span class="preprocessor"># endif//GLM_FORCE_SIZE_FUNC</span></div>
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<div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div>
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<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="comment">// -- Implicit basic constructors --</span></div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span> </div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  GLM_FUNC_DECL tdualquat() GLM_DEFAULT_CTOR;</div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  GLM_FUNC_DECL tdualquat(tdualquat<T, P> const & d) GLM_DEFAULT;</div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  template <precision Q></div>
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<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  GLM_FUNC_DECL tdualquat(tdualquat<T, Q> const & d);</div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</span> </div>
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<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  <span class="comment">// -- Explicit basic constructors --</span></div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span> </div>
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<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  GLM_FUNC_DECL explicit tdualquat(ctor);</div>
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<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  GLM_FUNC_DECL explicit tdualquat(tquat<T, P> const & real);</div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  GLM_FUNC_DECL tdualquat(tquat<T, P> const & <a class="code" href="a00228.html#ga49b4d082305cdfcfe0a5c184f684a902">orientation</a>, tvec3<T, P> const & translation);</div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  GLM_FUNC_DECL tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);</div>
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<div class="line"><a name="l00109"></a><span class="lineno"> 109</span> </div>
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<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="comment">// -- Conversion constructors --</span></div>
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<div class="line"><a name="l00111"></a><span class="lineno"> 111</span> </div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  template <typename U, precision Q></div>
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<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tdualquat<U, Q> const & q);</div>
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<div class="line"><a name="l00114"></a><span class="lineno"> 114</span> </div>
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<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  GLM_FUNC_DECL explicit tdualquat(tmat2x4<T, P> const & holder_mat);</div>
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<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  GLM_FUNC_DECL explicit tdualquat(tmat3x4<T, P> const & aug_mat);</div>
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<div class="line"><a name="l00117"></a><span class="lineno"> 117</span> </div>
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<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  <span class="comment">// -- Unary arithmetic operators --</span></div>
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<div class="line"><a name="l00119"></a><span class="lineno"> 119</span> </div>
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<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m) GLM_DEFAULT;</div>
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<div class="line"><a name="l00121"></a><span class="lineno"> 121</span> </div>
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<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  template <typename U></div>
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<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<U, P> const & m);</div>
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<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  template <typename U></div>
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<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  GLM_FUNC_DECL tdualquat<T, P> & operator*=(U s);</div>
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<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  template <typename U></div>
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<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  GLM_FUNC_DECL tdualquat<T, P> & operator/=(U s);</div>
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<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  };</div>
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<div class="line"><a name="l00129"></a><span class="lineno"> 129</span> </div>
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<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="comment">// -- Unary bit operators --</span></div>
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<div class="line"><a name="l00131"></a><span class="lineno"> 131</span> </div>
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<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q);</div>
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<div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div>
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<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  <span class="comment">// -- Binary operators --</span></div>
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<div class="line"><a name="l00136"></a><span class="lineno"> 136</span> </div>
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<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q, tdualquat<T, P> const & p);</div>
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<div class="line"><a name="l00139"></a><span class="lineno"> 139</span> </div>
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<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, tdualquat<T, P> const & p);</div>
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<div class="line"><a name="l00142"></a><span class="lineno"> 142</span> </div>
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<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v);</div>
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<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> </div>
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<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00147"></a><span class="lineno"> 147</span>  GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q);</div>
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<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> </div>
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<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v);</div>
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<div class="line"><a name="l00151"></a><span class="lineno"> 151</span> </div>
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<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q);</div>
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<div class="line"><a name="l00154"></a><span class="lineno"> 154</span> </div>
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<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00156"></a><span class="lineno"> 156</span>  GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, T const & s);</div>
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<div class="line"><a name="l00157"></a><span class="lineno"> 157</span> </div>
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<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00159"></a><span class="lineno"> 159</span>  GLM_FUNC_DECL tdualquat<T, P> operator*(T const & s, tdualquat<T, P> const & q);</div>
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<div class="line"><a name="l00160"></a><span class="lineno"> 160</span> </div>
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<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  GLM_FUNC_DECL tdualquat<T, P> operator/(tdualquat<T, P> const & q, T const & s);</div>
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<div class="line"><a name="l00163"></a><span class="lineno"> 163</span> </div>
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<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  GLM_FUNC_DECL tdualquat<T, P> <a class="code" href="a00193.html#ga495818aa48c23e9e730f87a3c337d1d5">normalize</a>(tdualquat<T, P> const & q);</div>
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<div class="line"><a name="l00169"></a><span class="lineno"> 169</span> </div>
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<div class="line"><a name="l00173"></a><span class="lineno"> 173</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00174"></a><span class="lineno"> 174</span>  GLM_FUNC_DECL tdualquat<T, P> <a class="code" href="a00193.html#ga8039b88397ca09275be924a26a806a59">lerp</a>(tdualquat<T, P> const & x, tdualquat<T, P> const & y, T const & a);</div>
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<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> </div>
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<div class="line"><a name="l00179"></a><span class="lineno"> 179</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00180"></a><span class="lineno"> 180</span>  GLM_FUNC_DECL tdualquat<T, P> <a class="code" href="a00193.html#ga2149d3cb8af04d9530de0cd16aa1aab2">inverse</a>(tdualquat<T, P> const & q);</div>
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<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> </div>
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<div class="line"><a name="l00185"></a><span class="lineno"> 185</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00186"></a><span class="lineno"> 186</span>  GLM_FUNC_DECL tmat2x4<T, P> <a class="code" href="a00193.html#ga2d124748183e12db8288eeaca350298e">mat2x4_cast</a>(tdualquat<T, P> const & x);</div>
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<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div>
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<div class="line"><a name="l00191"></a><span class="lineno"> 191</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00192"></a><span class="lineno"> 192</span>  GLM_FUNC_DECL tmat3x4<T, P> <a class="code" href="a00193.html#ga576745d979e3c079a64152490c816954">mat3x4_cast</a>(tdualquat<T, P> const & x);</div>
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<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> </div>
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<div class="line"><a name="l00197"></a><span class="lineno"> 197</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00198"></a><span class="lineno"> 198</span>  GLM_FUNC_DECL tdualquat<T, P> <a class="code" href="a00193.html#ga20eb5758beb73cc6dbc2d9104f03ec20">dualquat_cast</a>(tmat2x4<T, P> const & x);</div>
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<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> </div>
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<div class="line"><a name="l00203"></a><span class="lineno"> 203</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00204"></a><span class="lineno"> 204</span>  GLM_FUNC_DECL tdualquat<T, P> <a class="code" href="a00193.html#ga20eb5758beb73cc6dbc2d9104f03ec20">dualquat_cast</a>(tmat3x4<T, P> const & x);</div>
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<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> </div>
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<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> </div>
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<div class="line"><a name="l00210"></a><span class="lineno"><a class="line" href="a00193.html#gade05d29ebd4deea0f883d0e1bb4169aa"> 210</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, lowp> <a class="code" href="a00193.html#gade05d29ebd4deea0f883d0e1bb4169aa">lowp_dualquat</a>;</div>
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<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> </div>
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<div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="a00193.html#gaa7aeb54c167712b38f2178a1be2360ad"> 215</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, mediump> <a class="code" href="a00193.html#gaa7aeb54c167712b38f2178a1be2360ad">mediump_dualquat</a>;</div>
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<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div>
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<div class="line"><a name="l00220"></a><span class="lineno"><a class="line" href="a00193.html#ga9ef5bf1da52a9d4932335a517086ceaf"> 220</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, highp> <a class="code" href="a00193.html#ga9ef5bf1da52a9d4932335a517086ceaf">highp_dualquat</a>;</div>
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<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> </div>
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<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> </div>
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<div class="line"><a name="l00226"></a><span class="lineno"><a class="line" href="a00193.html#gaa38f671be25a7f3b136a452a8bb42860"> 226</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, lowp> <a class="code" href="a00193.html#gaa38f671be25a7f3b136a452a8bb42860">lowp_fdualquat</a>;</div>
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<div class="line"><a name="l00227"></a><span class="lineno"> 227</span> </div>
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<div class="line"><a name="l00231"></a><span class="lineno"><a class="line" href="a00193.html#ga4a6b594ff7e81150d8143001367a9431"> 231</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, mediump> <a class="code" href="a00193.html#ga4a6b594ff7e81150d8143001367a9431">mediump_fdualquat</a>;</div>
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<div class="line"><a name="l00232"></a><span class="lineno"> 232</span> </div>
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<div class="line"><a name="l00236"></a><span class="lineno"><a class="line" href="a00193.html#ga4c4e55e9c99dc57b299ed590968da564"> 236</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, highp> <a class="code" href="a00193.html#ga4c4e55e9c99dc57b299ed590968da564">highp_fdualquat</a>;</div>
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<div class="line"><a name="l00237"></a><span class="lineno"> 237</span> </div>
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<div class="line"><a name="l00238"></a><span class="lineno"> 238</span> </div>
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<div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="a00193.html#gab4c5103338af3dac7e0fbc86895a3f1a"> 242</a></span>  typedef tdualquat<<span class="keywordtype">double</span>, lowp> <a class="code" href="a00193.html#gab4c5103338af3dac7e0fbc86895a3f1a">lowp_ddualquat</a>;</div>
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<div class="line"><a name="l00243"></a><span class="lineno"> 243</span> </div>
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<div class="line"><a name="l00247"></a><span class="lineno"><a class="line" href="a00193.html#ga0fb11e48e2d16348ccb06a25213641b4"> 247</a></span>  typedef tdualquat<<span class="keywordtype">double</span>, mediump> <a class="code" href="a00193.html#ga0fb11e48e2d16348ccb06a25213641b4">mediump_ddualquat</a>;</div>
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<div class="line"><a name="l00248"></a><span class="lineno"> 248</span> </div>
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<div class="line"><a name="l00252"></a><span class="lineno"><a class="line" href="a00193.html#ga8f67eafa7197d7a668dad5105a463d2a"> 252</a></span>  typedef tdualquat<<span class="keywordtype">double</span>, highp> <a class="code" href="a00193.html#ga8f67eafa7197d7a668dad5105a463d2a">highp_ddualquat</a>;</div>
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<div class="line"><a name="l00253"></a><span class="lineno"> 253</span> </div>
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<div class="line"><a name="l00254"></a><span class="lineno"> 254</span> </div>
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<div class="line"><a name="l00255"></a><span class="lineno"> 255</span> <span class="preprocessor">#if(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
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<div class="line"><a name="l00256"></a><span class="lineno"> 256</span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00193.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00260"></a><span class="lineno"> 260</span> </div>
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<div class="line"><a name="l00264"></a><span class="lineno"><a class="line" href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930"> 264</a></span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> <span class="preprocessor">#elif(defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
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<div class="line"><a name="l00266"></a><span class="lineno"> 266</span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00193.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00267"></a><span class="lineno"> 267</span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> <span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && defined(GLM_PRECISION_MEDIUMP_FLOAT) && !defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
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<div class="line"><a name="l00269"></a><span class="lineno"> 269</span>  <span class="keyword">typedef</span> mediump_fdualquat <a class="code" href="a00193.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00270"></a><span class="lineno"> 270</span>  <span class="keyword">typedef</span> mediump_fdualquat <a class="code" href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_FLOAT) && !defined(GLM_PRECISION_MEDIUMP_FLOAT) && defined(GLM_PRECISION_LOWP_FLOAT))</span></div>
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<div class="line"><a name="l00272"></a><span class="lineno"> 272</span>  <span class="keyword">typedef</span> lowp_fdualquat <a class="code" href="a00193.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00273"></a><span class="lineno"> 273</span>  <span class="keyword">typedef</span> lowp_fdualquat <a class="code" href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00274"></a><span class="lineno"> 274</span> <span class="preprocessor">#else</span></div>
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<div class="line"><a name="l00275"></a><span class="lineno"> 275</span> <span class="preprocessor"># error "GLM error: multiple default precision requested for single-precision floating-point types"</span></div>
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<div class="line"><a name="l00276"></a><span class="lineno"> 276</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00277"></a><span class="lineno"> 277</span> </div>
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<div class="line"><a name="l00278"></a><span class="lineno"> 278</span> </div>
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<div class="line"><a name="l00279"></a><span class="lineno"> 279</span> <span class="preprocessor">#if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
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<div class="line"><a name="l00280"></a><span class="lineno"> 280</span>  <span class="keyword">typedef</span> highp_ddualquat <a class="code" href="a00193.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00284"></a><span class="lineno"> 284</span> <span class="preprocessor">#elif(defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
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<div class="line"><a name="l00285"></a><span class="lineno"> 285</span>  <span class="keyword">typedef</span> highp_ddualquat <a class="code" href="a00193.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00286"></a><span class="lineno"> 286</span> <span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
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<div class="line"><a name="l00287"></a><span class="lineno"> 287</span>  <span class="keyword">typedef</span> mediump_ddualquat <a class="code" href="a00193.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00288"></a><span class="lineno"> 288</span> <span class="preprocessor">#elif(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && defined(GLM_PRECISION_LOWP_DOUBLE))</span></div>
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<div class="line"><a name="l00289"></a><span class="lineno"> 289</span>  <span class="keyword">typedef</span> lowp_ddualquat <a class="code" href="a00193.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00290"></a><span class="lineno"> 290</span> <span class="preprocessor">#else</span></div>
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<div class="line"><a name="l00291"></a><span class="lineno"> 291</span> <span class="preprocessor"># error "GLM error: Multiple default precision requested for double-precision floating-point types"</span></div>
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<div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00293"></a><span class="lineno"> 293</span> </div>
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<div class="line"><a name="l00295"></a><span class="lineno"> 295</span> } <span class="comment">//namespace glm</span></div>
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<div class="line"><a name="l00296"></a><span class="lineno"> 296</span> </div>
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<div class="line"><a name="l00297"></a><span class="lineno"> 297</span> <span class="preprocessor">#include "dual_quaternion.inl"</span></div>
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<div class="ttc" id="a00193_html_ga20eb5758beb73cc6dbc2d9104f03ec20"><div class="ttname"><a href="a00193.html#ga20eb5758beb73cc6dbc2d9104f03ec20">glm::dualquat_cast</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat< T, P > dualquat_cast(tmat3x4< T, P > const &x)</div><div class="ttdoc">Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion. </div></div>
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<div class="ttc" id="a00193_html_gab4c5103338af3dac7e0fbc86895a3f1a"><div class="ttname"><a href="a00193.html#gab4c5103338af3dac7e0fbc86895a3f1a">glm::lowp_ddualquat</a></div><div class="ttdeci">tdualquat< double, lowp > lowp_ddualquat</div><div class="ttdoc">Dual-quaternion of low double-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00242">dual_quaternion.hpp:242</a></div></div>
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<div class="ttc" id="a00193_html_ga495818aa48c23e9e730f87a3c337d1d5"><div class="ttname"><a href="a00193.html#ga495818aa48c23e9e730f87a3c337d1d5">glm::normalize</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat< T, P > normalize(tdualquat< T, P > const &q)</div><div class="ttdoc">Returns the normalized quaternion. </div></div>
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<div class="ttc" id="a00193_html_ga9ef5bf1da52a9d4932335a517086ceaf"><div class="ttname"><a href="a00193.html#ga9ef5bf1da52a9d4932335a517086ceaf">glm::highp_dualquat</a></div><div class="ttdeci">tdualquat< float, highp > highp_dualquat</div><div class="ttdoc">Dual-quaternion of high single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00220">dual_quaternion.hpp:220</a></div></div>
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<div class="ttc" id="a00228_html_ga49b4d082305cdfcfe0a5c184f684a902"><div class="ttname"><a href="a00228.html#ga49b4d082305cdfcfe0a5c184f684a902">glm::orientation</a></div><div class="ttdeci">GLM_FUNC_DECL tmat4x4< T, P > orientation(tvec3< T, P > const &Normal, tvec3< T, P > const &Up)</div><div class="ttdoc">Build a rotation matrix from a normal and a up vector. </div></div>
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<div class="ttc" id="a00193_html_ga4a6b594ff7e81150d8143001367a9431"><div class="ttname"><a href="a00193.html#ga4a6b594ff7e81150d8143001367a9431">glm::mediump_fdualquat</a></div><div class="ttdeci">tdualquat< float, mediump > mediump_fdualquat</div><div class="ttdoc">Dual-quaternion of medium single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00231">dual_quaternion.hpp:231</a></div></div>
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<div class="ttc" id="a00193_html_ga237c2b9b42c9a930e49de5840ae0f930"><div class="ttname"><a href="a00193.html#ga237c2b9b42c9a930e49de5840ae0f930">glm::fdualquat</a></div><div class="ttdeci">highp_fdualquat fdualquat</div><div class="ttdoc">Dual-quaternion of single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00264">dual_quaternion.hpp:264</a></div></div>
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<div class="ttc" id="a00153_html_ga18d45e3d4c7705e67ccfabd99e521604"><div class="ttname"><a href="a00153.html#ga18d45e3d4c7705e67ccfabd99e521604">glm::length</a></div><div class="ttdeci">GLM_FUNC_DECL T length(vecType< T, P > const &x)</div><div class="ttdoc">Returns the length of x, i.e., sqrt(x * x). </div></div>
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<div class="ttc" id="a00193_html_gade05d29ebd4deea0f883d0e1bb4169aa"><div class="ttname"><a href="a00193.html#gade05d29ebd4deea0f883d0e1bb4169aa">glm::lowp_dualquat</a></div><div class="ttdeci">tdualquat< float, lowp > lowp_dualquat</div><div class="ttdoc">Dual-quaternion of low single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00210">dual_quaternion.hpp:210</a></div></div>
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<div class="ttc" id="a00193_html_ga8039b88397ca09275be924a26a806a59"><div class="ttname"><a href="a00193.html#ga8039b88397ca09275be924a26a806a59">glm::lerp</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat< T, P > lerp(tdualquat< T, P > const &x, tdualquat< T, P > const &y, T const &a)</div><div class="ttdoc">Returns the linear interpolation of two dual quaternion. </div></div>
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<div class="ttc" id="a00193_html_ga2d124748183e12db8288eeaca350298e"><div class="ttname"><a href="a00193.html#ga2d124748183e12db8288eeaca350298e">glm::mat2x4_cast</a></div><div class="ttdeci">GLM_FUNC_DECL tmat2x4< T, P > mat2x4_cast(tdualquat< T, P > const &x)</div><div class="ttdoc">Converts a quaternion to a 2 * 4 matrix. </div></div>
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<div class="ttc" id="a00193_html_ga3d71f98d84ba59dfe4e369fde4714cd6"><div class="ttname"><a href="a00193.html#ga3d71f98d84ba59dfe4e369fde4714cd6">glm::ddualquat</a></div><div class="ttdeci">highp_ddualquat ddualquat</div><div class="ttdoc">Dual-quaternion of default double-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00283">dual_quaternion.hpp:283</a></div></div>
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<div class="ttc" id="a00193_html_ga8f67eafa7197d7a668dad5105a463d2a"><div class="ttname"><a href="a00193.html#ga8f67eafa7197d7a668dad5105a463d2a">glm::highp_ddualquat</a></div><div class="ttdeci">tdualquat< double, highp > highp_ddualquat</div><div class="ttdoc">Dual-quaternion of high double-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00252">dual_quaternion.hpp:252</a></div></div>
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<div class="ttc" id="a00193_html_ga4c4e55e9c99dc57b299ed590968da564"><div class="ttname"><a href="a00193.html#ga4c4e55e9c99dc57b299ed590968da564">glm::highp_fdualquat</a></div><div class="ttdeci">tdualquat< float, highp > highp_fdualquat</div><div class="ttdoc">Dual-quaternion of high single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00236">dual_quaternion.hpp:236</a></div></div>
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<div class="ttc" id="a00146_html"><div class="ttname"><a href="a00146.html">glm</a></div><div class="ttdef"><b>Definition:</b> <a href="a00003_source.html#l00040">_noise.hpp:40</a></div></div>
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<div class="ttc" id="a00193_html_ga2149d3cb8af04d9530de0cd16aa1aab2"><div class="ttname"><a href="a00193.html#ga2149d3cb8af04d9530de0cd16aa1aab2">glm::inverse</a></div><div class="ttdeci">GLM_FUNC_DECL tdualquat< T, P > inverse(tdualquat< T, P > const &q)</div><div class="ttdoc">Returns the q inverse. </div></div>
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<div class="ttc" id="a00193_html_gaa7aeb54c167712b38f2178a1be2360ad"><div class="ttname"><a href="a00193.html#gaa7aeb54c167712b38f2178a1be2360ad">glm::mediump_dualquat</a></div><div class="ttdeci">tdualquat< float, mediump > mediump_dualquat</div><div class="ttdoc">Dual-quaternion of medium single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00215">dual_quaternion.hpp:215</a></div></div>
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<div class="ttc" id="a00193_html_ga0fb11e48e2d16348ccb06a25213641b4"><div class="ttname"><a href="a00193.html#ga0fb11e48e2d16348ccb06a25213641b4">glm::mediump_ddualquat</a></div><div class="ttdeci">tdualquat< double, mediump > mediump_ddualquat</div><div class="ttdoc">Dual-quaternion of medium double-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00247">dual_quaternion.hpp:247</a></div></div>
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<div class="ttc" id="a00193_html_ga576745d979e3c079a64152490c816954"><div class="ttname"><a href="a00193.html#ga576745d979e3c079a64152490c816954">glm::mat3x4_cast</a></div><div class="ttdeci">GLM_FUNC_DECL tmat3x4< T, P > mat3x4_cast(tdualquat< T, P > const &x)</div><div class="ttdoc">Converts a quaternion to a 3 * 4 matrix. </div></div>
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<div class="ttc" id="a00193_html_gaa38f671be25a7f3b136a452a8bb42860"><div class="ttname"><a href="a00193.html#gaa38f671be25a7f3b136a452a8bb42860">glm::lowp_fdualquat</a></div><div class="ttdeci">tdualquat< float, lowp > lowp_fdualquat</div><div class="ttdoc">Dual-quaternion of low single-precision floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00226">dual_quaternion.hpp:226</a></div></div>
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<div class="ttc" id="a00193_html_gae93abee0c979902fbec6a7bee0f6fae1"><div class="ttname"><a href="a00193.html#gae93abee0c979902fbec6a7bee0f6fae1">glm::dualquat</a></div><div class="ttdeci">highp_fdualquat dualquat</div><div class="ttdoc">Dual-quaternion of floating-point numbers. </div><div class="ttdef"><b>Definition:</b> <a href="a00019_source.html#l00259">dual_quaternion.hpp:259</a></div></div>
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