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215 lines
6.1 KiB
C++
215 lines
6.1 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_quaternion
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/// @file glm/gtx/quaternion.hpp
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/// @date 2005-12-21 / 2011-06-07
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/// @author Christophe Riccio
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///
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/// @see core (dependence)
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/// @see gtx_extented_min_max (dependence)
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///
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/// @defgroup gtx_quaternion GLM_GTX_quaternion
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/// @ingroup gtx
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///
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/// @brief Extented quaternion types and functions
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///
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/// <glm/gtx/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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#include "../gtx/norm.hpp"
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#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
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# pragma message("GLM: GLM_GTX_quaternion extension included")
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#endif
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namespace glm
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{
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/// @addtogroup gtx_quaternion
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/// @{
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/// Compute a cross product between a quaternion and a vector.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> cross(
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tquat<T, P> const & q,
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tvec3<T, P> const & v);
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//! Compute a cross product between a vector and a quaternion.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> cross(
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tvec3<T, P> const & v,
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tquat<T, P> const & q);
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//! Compute a point on a path according squad equation.
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//! q1 and q2 are control points; s1 and s2 are intermediate control points.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> squad(
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tquat<T, P> const & q1,
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tquat<T, P> const & q2,
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tquat<T, P> const & s1,
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tquat<T, P> const & s2,
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T const & h);
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//! Returns an intermediate control point for squad interpolation.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> intermediate(
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tquat<T, P> const & prev,
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tquat<T, P> const & curr,
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tquat<T, P> const & next);
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//! Returns a exp of a quaternion.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> exp(
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tquat<T, P> const & q);
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//! Returns a log of a quaternion.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> log(
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tquat<T, P> const & q);
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/// Returns x raised to the y power.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> pow(
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tquat<T, P> const & x,
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T const & y);
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//! Returns quarternion square root.
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///
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/// @see gtx_quaternion
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//template<typename T, precision P>
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//tquat<T, P> sqrt(
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// tquat<T, P> const & q);
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//! Rotates a 3 components vector by a quaternion.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> rotate(
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tquat<T, P> const & q,
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tvec3<T, P> const & v);
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/// Rotates a 4 components vector by a quaternion.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tvec4<T, P> rotate(
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tquat<T, P> const & q,
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tvec4<T, P> const & v);
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/// Extract the real component of a quaternion.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL T extractRealComponent(
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tquat<T, P> const & q);
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/// Converts a quaternion to a 3 * 3 matrix.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tmat3x3<T, P> toMat3(
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tquat<T, P> const & x){return mat3_cast(x);}
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/// Converts a quaternion to a 4 * 4 matrix.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tmat4x4<T, P> toMat4(
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tquat<T, P> const & x){return mat4_cast(x);}
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/// Converts a 3 * 3 matrix to a quaternion.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> toQuat(
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tmat3x3<T, P> const & x){return quat_cast(x);}
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/// Converts a 4 * 4 matrix to a quaternion.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> toQuat(
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tmat4x4<T, P> const & x){return quat_cast(x);}
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/// Quaternion interpolation using the rotation short path.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> shortMix(
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tquat<T, P> const & x,
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tquat<T, P> const & y,
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T const & a);
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/// Quaternion normalized linear interpolation.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> fastMix(
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tquat<T, P> const & x,
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tquat<T, P> const & y,
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T const & a);
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/// Compute the rotation between two vectors.
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/// param orig vector, needs to be normalized
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/// param dest vector, needs to be normalized
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> rotation(
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tvec3<T, P> const & orig,
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tvec3<T, P> const & dest);
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/// Returns the squared length of x.
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///
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/// @see gtx_quaternion
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template<typename T, precision P>
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GLM_FUNC_DECL T length2(tquat<T, P> const & q);
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/// @}
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}//namespace glm
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#include "quaternion.inl"
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