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<li class="navelem"><a class="el" href="dir_934f46a345653ef2b3014a1b37a162c1.html">G:</a></li><li class="navelem"><a class="el" href="dir_98f7f9d41f9d3029bd68cf237526a774.html">Source</a></li><li class="navelem"><a class="el" href="dir_9344afb825aed5e2f5be1d2015dde43c.html">G-Truc</a></li><li class="navelem"><a class="el" href="dir_45973f864e07b2505003ae343b7c8af7.html">glm</a></li><li class="navelem"><a class="el" href="dir_304be5dfae1339a7705426c0b536faf2.html">glm</a></li><li class="navelem"><a class="el" href="dir_e8f3c1046ba4b357711397765359cd18.html">gtx</a></li> </ul>
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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="a00020.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="l00016"></a><span class="lineno"> 16</span> <span class="preprocessor">#pragma once</span></div>
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<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div>
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<div class="line"><a name="l00018"></a><span class="lineno"> 18</span> <span class="comment">// Dependency:</span></div>
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<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include "../glm.hpp"</span></div>
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<div class="line"><a name="l00020"></a><span class="lineno"> 20</span> <span class="preprocessor">#include "../gtc/constants.hpp"</span></div>
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<div class="line"><a name="l00021"></a><span class="lineno"> 21</span> <span class="preprocessor">#include "../gtc/quaternion.hpp"</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> </div>
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<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="preprocessor">#ifndef GLM_ENABLE_EXPERIMENTAL</span></div>
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<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="preprocessor"># error "GLM: GLM_GTX_dual_quaternion is an experimetal extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it."</span></div>
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<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> </div>
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<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="preprocessor">#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="preprocessor"># pragma message("GLM: GLM_GTX_dual_quaternion extension included")</span></div>
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<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="keyword">namespace </span><a class="code" href="a00140.html">glm</a></div>
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<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> {</div>
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<div class="line"><a name="l00035"></a><span class="lineno"> 35</span> </div>
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<div class="line"><a name="l00036"></a><span class="lineno"> 36</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="l00037"></a><span class="lineno"> 37</span>  <span class="keyword">struct </span>tdualquat</div>
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<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  {</div>
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<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="comment">// -- Implementation detail --</span></div>
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<div class="line"><a name="l00040"></a><span class="lineno"> 40</span> </div>
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<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="keyword">typedef</span> T value_type;</div>
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<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="keyword">typedef</span> glm::tquat<T, P> part_type;</div>
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<div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div>
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<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="comment">// -- Data --</span></div>
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<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> </div>
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<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  glm::tquat<T, P> real, dual;</div>
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<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> </div>
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<div class="line"><a name="l00048"></a><span class="lineno"> 48</span>  <span class="comment">// -- Component accesses --</span></div>
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<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> </div>
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<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  <span class="keyword">typedef</span> length_t length_type;</div>
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<div class="line"><a name="l00052"></a><span class="lineno"> 52</span>  GLM_FUNC_DECL <span class="keyword">static</span> length_type <a class="code" href="a00147.html#ga18d45e3d4c7705e67ccfabd99e521604">length</a>(){<span class="keywordflow">return</span> 2;}</div>
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<div class="line"><a name="l00053"></a><span class="lineno"> 53</span> </div>
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<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  GLM_FUNC_DECL part_type & operator[](length_type i);</div>
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<div class="line"><a name="l00055"></a><span class="lineno"> 55</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="l00056"></a><span class="lineno"> 56</span> </div>
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<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  <span class="comment">// -- Implicit basic constructors --</span></div>
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<div class="line"><a name="l00058"></a><span class="lineno"> 58</span> </div>
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<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT_CTOR;</div>
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<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const & d) GLM_DEFAULT;</div>
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<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  template <precision Q></div>
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<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const & d);</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">// -- Explicit basic constructors --</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>  GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tdualquat(ctor);</div>
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<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real);</div>
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<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & <a class="code" href="a00224.html#ga49b4d082305cdfcfe0a5c184f684a902">orientation</a>, tvec3<T, P> const & translation);</div>
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<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);</div>
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<div class="line"><a name="l00070"></a><span class="lineno"> 70</span> </div>
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<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="comment">// -- Conversion constructors --</span></div>
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<div class="line"><a name="l00072"></a><span class="lineno"> 72</span> </div>
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<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  template <typename U, precision Q></div>
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<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, Q> const & q);</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_FUNC_DECL GLM_EXPLICIT tdualquat(tmat2x4<T, P> const & holder_mat);</div>
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<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat3x4<T, P> const & aug_mat);</div>
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<div class="line"><a name="l00078"></a><span class="lineno"> 78</span> </div>
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<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  <span class="comment">// -- Unary arithmetic operators --</span></div>
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<div class="line"><a name="l00080"></a><span class="lineno"> 80</span> </div>
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<div class="line"><a name="l00081"></a><span class="lineno"> 81</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="l00082"></a><span class="lineno"> 82</span> </div>
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<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  template <typename U></div>
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<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<U, P> const & m);</div>
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<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  template <typename U></div>
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<div class="line"><a name="l00086"></a><span class="lineno"> 86</span>  GLM_FUNC_DECL tdualquat<T, P> & operator*=(U s);</div>
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<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  template <typename U></div>
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<div class="line"><a name="l00088"></a><span class="lineno"> 88</span>  GLM_FUNC_DECL tdualquat<T, P> & operator/=(U s);</div>
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<div class="line"><a name="l00089"></a><span class="lineno"> 89</span>  };</div>
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<div class="line"><a name="l00090"></a><span class="lineno"> 90</span> </div>
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<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  <span class="comment">// -- Unary bit operators --</span></div>
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<div class="line"><a name="l00092"></a><span class="lineno"> 92</span> </div>
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<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q);</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>  template <typename T, precision P></div>
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<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  GLM_FUNC_DECL tdualquat<T, P> operator-(tdualquat<T, P> const & q);</div>
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<div class="line"><a name="l00098"></a><span class="lineno"> 98</span> </div>
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<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="comment">// -- Binary operators --</span></div>
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<div class="line"><a name="l00100"></a><span class="lineno"> 100</span> </div>
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<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00102"></a><span class="lineno"> 102</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="l00103"></a><span class="lineno"> 103</span> </div>
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<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00105"></a><span class="lineno"> 105</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="l00106"></a><span class="lineno"> 106</span> </div>
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<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  GLM_FUNC_DECL tvec3<T, P> operator*(tdualquat<T, P> const & q, tvec3<T, P> const & v);</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>  template <typename T, precision P></div>
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<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tdualquat<T, P> const & q);</div>
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<div class="line"><a name="l00112"></a><span class="lineno"> 112</span> </div>
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<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  GLM_FUNC_DECL tvec4<T, P> operator*(tdualquat<T, P> const & q, tvec4<T, P> const & v);</div>
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<div class="line"><a name="l00115"></a><span class="lineno"> 115</span> </div>
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<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tdualquat<T, P> const & q);</div>
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<div class="line"><a name="l00118"></a><span class="lineno"> 118</span> </div>
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<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  template <typename T, precision P></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 & q, T const & s);</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 T, precision P></div>
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<div class="line"><a name="l00123"></a><span class="lineno"> 123</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="l00124"></a><span class="lineno"> 124</span> </div>
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<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00126"></a><span class="lineno"> 126</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="l00127"></a><span class="lineno"> 127</span> </div>
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<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="comment">// -- Boolean operators --</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>  template <typename T, precision P></div>
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<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  GLM_FUNC_DECL <span class="keywordtype">bool</span> operator==(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);</div>
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<div class="line"><a name="l00132"></a><span class="lineno"> 132</span> </div>
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<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  GLM_FUNC_DECL <span class="keywordtype">bool</span> operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);</div>
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<div class="line"><a name="l00135"></a><span class="lineno"> 135</span> </div>
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<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  GLM_FUNC_DECL tdualquat<T, P> <a class="code" href="a00189.html#ga495818aa48c23e9e730f87a3c337d1d5">normalize</a>(tdualquat<T, P> const & q);</div>
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<div class="line"><a name="l00141"></a><span class="lineno"> 141</span> </div>
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<div class="line"><a name="l00145"></a><span class="lineno"> 145</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  GLM_FUNC_DECL tdualquat<T, P> <a class="code" href="a00189.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="l00147"></a><span class="lineno"> 147</span> </div>
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<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  GLM_FUNC_DECL tdualquat<T, P> <a class="code" href="a00189.html#ga2149d3cb8af04d9530de0cd16aa1aab2">inverse</a>(tdualquat<T, P> const & q);</div>
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<div class="line"><a name="l00153"></a><span class="lineno"> 153</span> </div>
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<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00158"></a><span class="lineno"> 158</span>  GLM_FUNC_DECL tmat2x4<T, P> <a class="code" href="a00189.html#ga2d124748183e12db8288eeaca350298e">mat2x4_cast</a>(tdualquat<T, P> const & x);</div>
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<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> </div>
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<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  GLM_FUNC_DECL tmat3x4<T, P> <a class="code" href="a00189.html#ga576745d979e3c079a64152490c816954">mat3x4_cast</a>(tdualquat<T, P> const & x);</div>
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<div class="line"><a name="l00165"></a><span class="lineno"> 165</span> </div>
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<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  GLM_FUNC_DECL tdualquat<T, P> <a class="code" href="a00189.html#ga20eb5758beb73cc6dbc2d9104f03ec20">dualquat_cast</a>(tmat2x4<T, P> const & x);</div>
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<div class="line"><a name="l00171"></a><span class="lineno"> 171</span> </div>
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<div class="line"><a name="l00175"></a><span class="lineno"> 175</span>  template <typename T, precision P></div>
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<div class="line"><a name="l00176"></a><span class="lineno"> 176</span>  GLM_FUNC_DECL tdualquat<T, P> <a class="code" href="a00189.html#ga20eb5758beb73cc6dbc2d9104f03ec20">dualquat_cast</a>(tmat3x4<T, P> const & x);</div>
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<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> </div>
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<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> </div>
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<div class="line"><a name="l00182"></a><span class="lineno"><a class="line" href="a00189.html#gade05d29ebd4deea0f883d0e1bb4169aa"> 182</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, lowp> <a class="code" href="a00189.html#gade05d29ebd4deea0f883d0e1bb4169aa">lowp_dualquat</a>;</div>
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<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> </div>
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<div class="line"><a name="l00187"></a><span class="lineno"><a class="line" href="a00189.html#gaa7aeb54c167712b38f2178a1be2360ad"> 187</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, mediump> <a class="code" href="a00189.html#gaa7aeb54c167712b38f2178a1be2360ad">mediump_dualquat</a>;</div>
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<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> </div>
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<div class="line"><a name="l00192"></a><span class="lineno"><a class="line" href="a00189.html#ga9ef5bf1da52a9d4932335a517086ceaf"> 192</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, highp> <a class="code" href="a00189.html#ga9ef5bf1da52a9d4932335a517086ceaf">highp_dualquat</a>;</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="l00194"></a><span class="lineno"> 194</span> </div>
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<div class="line"><a name="l00198"></a><span class="lineno"><a class="line" href="a00189.html#gaa38f671be25a7f3b136a452a8bb42860"> 198</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, lowp> <a class="code" href="a00189.html#gaa38f671be25a7f3b136a452a8bb42860">lowp_fdualquat</a>;</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"><a class="line" href="a00189.html#ga4a6b594ff7e81150d8143001367a9431"> 203</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, mediump> <a class="code" href="a00189.html#ga4a6b594ff7e81150d8143001367a9431">mediump_fdualquat</a>;</div>
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<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> </div>
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<div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="a00189.html#ga4c4e55e9c99dc57b299ed590968da564"> 208</a></span>  typedef tdualquat<<span class="keywordtype">float</span>, highp> <a class="code" href="a00189.html#ga4c4e55e9c99dc57b299ed590968da564">highp_fdualquat</a>;</div>
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<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div>
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<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> </div>
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<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="a00189.html#gab4c5103338af3dac7e0fbc86895a3f1a"> 214</a></span>  typedef tdualquat<<span class="keywordtype">double</span>, lowp> <a class="code" href="a00189.html#gab4c5103338af3dac7e0fbc86895a3f1a">lowp_ddualquat</a>;</div>
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<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> </div>
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<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="a00189.html#ga0fb11e48e2d16348ccb06a25213641b4"> 219</a></span>  typedef tdualquat<<span class="keywordtype">double</span>, mediump> <a class="code" href="a00189.html#ga0fb11e48e2d16348ccb06a25213641b4">mediump_ddualquat</a>;</div>
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<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div>
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<div class="line"><a name="l00224"></a><span class="lineno"><a class="line" href="a00189.html#ga8f67eafa7197d7a668dad5105a463d2a"> 224</a></span>  typedef tdualquat<<span class="keywordtype">double</span>, highp> <a class="code" href="a00189.html#ga8f67eafa7197d7a668dad5105a463d2a">highp_ddualquat</a>;</div>
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<div class="line"><a name="l00225"></a><span class="lineno"> 225</span> </div>
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<div class="line"><a name="l00226"></a><span class="lineno"> 226</span> </div>
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<div class="line"><a name="l00227"></a><span class="lineno"> 227</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="l00228"></a><span class="lineno"> 228</span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00189.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</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="a00189.html#ga237c2b9b42c9a930e49de5840ae0f930"> 236</a></span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00189.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00237"></a><span class="lineno"> 237</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="l00238"></a><span class="lineno"> 238</span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00189.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00239"></a><span class="lineno"> 239</span>  <span class="keyword">typedef</span> highp_fdualquat <a class="code" href="a00189.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00240"></a><span class="lineno"> 240</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="l00241"></a><span class="lineno"> 241</span>  <span class="keyword">typedef</span> mediump_fdualquat <a class="code" href="a00189.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00242"></a><span class="lineno"> 242</span>  <span class="keyword">typedef</span> mediump_fdualquat <a class="code" href="a00189.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00243"></a><span class="lineno"> 243</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="l00244"></a><span class="lineno"> 244</span>  <span class="keyword">typedef</span> lowp_fdualquat <a class="code" href="a00189.html#gae93abee0c979902fbec6a7bee0f6fae1">dualquat</a>;</div>
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<div class="line"><a name="l00245"></a><span class="lineno"> 245</span>  <span class="keyword">typedef</span> lowp_fdualquat <a class="code" href="a00189.html#ga237c2b9b42c9a930e49de5840ae0f930">fdualquat</a>;</div>
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<div class="line"><a name="l00246"></a><span class="lineno"> 246</span> <span class="preprocessor">#else</span></div>
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<div class="line"><a name="l00247"></a><span class="lineno"> 247</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="l00248"></a><span class="lineno"> 248</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00249"></a><span class="lineno"> 249</span> </div>
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<div class="line"><a name="l00250"></a><span class="lineno"> 250</span> </div>
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<div class="line"><a name="l00251"></a><span class="lineno"> 251</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="l00252"></a><span class="lineno"> 252</span>  <span class="keyword">typedef</span> highp_ddualquat <a class="code" href="a00189.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00256"></a><span class="lineno"> 256</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="l00257"></a><span class="lineno"> 257</span>  <span class="keyword">typedef</span> highp_ddualquat <a class="code" href="a00189.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00258"></a><span class="lineno"> 258</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="l00259"></a><span class="lineno"> 259</span>  <span class="keyword">typedef</span> mediump_ddualquat <a class="code" href="a00189.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00260"></a><span class="lineno"> 260</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="l00261"></a><span class="lineno"> 261</span>  <span class="keyword">typedef</span> lowp_ddualquat <a class="code" href="a00189.html#ga3d71f98d84ba59dfe4e369fde4714cd6">ddualquat</a>;</div>
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<div class="line"><a name="l00262"></a><span class="lineno"> 262</span> <span class="preprocessor">#else</span></div>
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<div class="line"><a name="l00263"></a><span class="lineno"> 263</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="l00264"></a><span class="lineno"> 264</span> <span class="preprocessor">#endif</span></div>
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<div class="line"><a name="l00265"></a><span class="lineno"> 265</span> </div>
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<div class="line"><a name="l00267"></a><span class="lineno"> 267</span> } <span class="comment">//namespace glm</span></div>
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<div class="line"><a name="l00268"></a><span class="lineno"> 268</span> </div>
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<div class="line"><a name="l00269"></a><span class="lineno"> 269</span> <span class="preprocessor">#include "dual_quaternion.inl"</span></div>
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<div class="ttc" id="a00224_html_ga49b4d082305cdfcfe0a5c184f684a902"><div class="ttname"><a href="a00224.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="a00189_html_gaa38f671be25a7f3b136a452a8bb42860"><div class="ttname"><a href="a00189.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="a00020_source.html#l00198">dual_quaternion.hpp:198</a></div></div>
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<div class="ttc" id="a00189_html_ga20eb5758beb73cc6dbc2d9104f03ec20"><div class="ttname"><a href="a00189.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="a00189_html_ga237c2b9b42c9a930e49de5840ae0f930"><div class="ttname"><a href="a00189.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="a00020_source.html#l00236">dual_quaternion.hpp:236</a></div></div>
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<div class="ttc" id="a00189_html_ga0fb11e48e2d16348ccb06a25213641b4"><div class="ttname"><a href="a00189.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="a00020_source.html#l00219">dual_quaternion.hpp:219</a></div></div>
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<div class="ttc" id="a00189_html_ga495818aa48c23e9e730f87a3c337d1d5"><div class="ttname"><a href="a00189.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="a00189_html_ga4a6b594ff7e81150d8143001367a9431"><div class="ttname"><a href="a00189.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="a00020_source.html#l00203">dual_quaternion.hpp:203</a></div></div>
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<div class="ttc" id="a00147_html_ga18d45e3d4c7705e67ccfabd99e521604"><div class="ttname"><a href="a00147.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="a00189_html_gab4c5103338af3dac7e0fbc86895a3f1a"><div class="ttname"><a href="a00189.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="a00020_source.html#l00214">dual_quaternion.hpp:214</a></div></div>
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<div class="ttc" id="a00189_html_ga3d71f98d84ba59dfe4e369fde4714cd6"><div class="ttname"><a href="a00189.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="a00020_source.html#l00255">dual_quaternion.hpp:255</a></div></div>
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<div class="ttc" id="a00189_html_gae93abee0c979902fbec6a7bee0f6fae1"><div class="ttname"><a href="a00189.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="a00020_source.html#l00231">dual_quaternion.hpp:231</a></div></div>
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<div class="ttc" id="a00189_html_ga4c4e55e9c99dc57b299ed590968da564"><div class="ttname"><a href="a00189.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="a00020_source.html#l00208">dual_quaternion.hpp:208</a></div></div>
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<div class="ttc" id="a00189_html_gaa7aeb54c167712b38f2178a1be2360ad"><div class="ttname"><a href="a00189.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="a00020_source.html#l00187">dual_quaternion.hpp:187</a></div></div>
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<div class="ttc" id="a00189_html_ga8039b88397ca09275be924a26a806a59"><div class="ttname"><a href="a00189.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="a00189_html_ga576745d979e3c079a64152490c816954"><div class="ttname"><a href="a00189.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="a00140_html"><div class="ttname"><a href="a00140.html">glm</a></div><div class="ttdef"><b>Definition:</b> <a href="a00003_source.html#l00011">_noise.hpp:11</a></div></div>
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<div class="ttc" id="a00189_html_ga9ef5bf1da52a9d4932335a517086ceaf"><div class="ttname"><a href="a00189.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="a00020_source.html#l00192">dual_quaternion.hpp:192</a></div></div>
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<div class="ttc" id="a00189_html_ga2d124748183e12db8288eeaca350298e"><div class="ttname"><a href="a00189.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="a00189_html_gade05d29ebd4deea0f883d0e1bb4169aa"><div class="ttname"><a href="a00189.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="a00020_source.html#l00182">dual_quaternion.hpp:182</a></div></div>
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<div class="ttc" id="a00189_html_ga2149d3cb8af04d9530de0cd16aa1aab2"><div class="ttname"><a href="a00189.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="a00189_html_ga8f67eafa7197d7a668dad5105a463d2a"><div class="ttname"><a href="a00189.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="a00020_source.html#l00224">dual_quaternion.hpp:224</a></div></div>
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