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<h1>quaternion.hpp</h1> </div>
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<div class="contents">
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<a href="a00091.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001
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<a name="l00039"></a>00039 <span class="preprocessor">#ifndef GLM_GTC_quaternion</span>
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<a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define GLM_GTC_quaternion GLM_VERSION</span>
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<a name="l00041"></a>00041 <span class="preprocessor"></span>
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<a name="l00042"></a>00042 <span class="comment">// Dependency:</span>
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<a name="l00043"></a>00043 <span class="preprocessor">#include "<a class="code" href="a00050.html" title="OpenGL Mathematics (glm.g-truc.net)">../glm.hpp</a>"</span>
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<a name="l00044"></a>00044 <span class="preprocessor">#include "<a class="code" href="a00052.html" title="OpenGL Mathematics (glm.g-truc.net)">../gtc/half_float.hpp</a>"</span>
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<a name="l00045"></a>00045
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<a name="l00046"></a>00046 <span class="preprocessor">#if(defined(GLM_MESSAGES) && !defined(glm_ext))</span>
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<a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor"># pragma message("GLM: GLM_GTC_quaternion extension included")</span>
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<a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
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<a name="l00049"></a>00049 <span class="preprocessor"></span>
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<a name="l00050"></a>00050 <span class="keyword">namespace </span>glm{
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<a name="l00051"></a>00051 <span class="keyword">namespace </span>detail
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<a name="l00052"></a>00052 {
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<a name="l00056"></a>00056 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00057"></a><a class="code" href="a00015.html">00057</a> <span class="keyword">struct </span><a class="code" href="a00015.html" title="Template for quaternion.">tquat</a><span class="comment">// : public genType<T, tquat></span>
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<a name="l00058"></a>00058 {
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<a name="l00059"></a>00059 <span class="keyword">enum</span> ctor{null};
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<a name="l00060"></a>00060
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<a name="l00061"></a>00061 <span class="keyword">typedef</span> T value_type;
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<a name="l00062"></a>00062 <span class="keyword">typedef</span> std::size_t size_type;
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<a name="l00063"></a>00063
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<a name="l00064"></a>00064 <span class="keyword">public</span>:
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<a name="l00065"></a>00065 value_type x, y, z, w;
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<a name="l00066"></a>00066
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<a name="l00067"></a>00067 GLM_FUNC_DECL size_type length() <span class="keyword">const</span>;
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<a name="l00068"></a>00068
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<a name="l00069"></a>00069 <span class="comment">// Constructors</span>
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<a name="l00070"></a>00070 <a class="code" href="a00015.html" title="Template for quaternion.">tquat</a>();
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<a name="l00071"></a>00071 <span class="keyword">explicit</span> <a class="code" href="a00015.html" title="Template for quaternion.">tquat</a>(
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<a name="l00072"></a>00072 value_type <span class="keyword">const</span> & s,
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<a name="l00073"></a>00073 <a class="code" href="a00017.html" title="Basic 3D vector type.">glm::detail::tvec3<T></a> <span class="keyword">const</span> & v);
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<a name="l00074"></a>00074 <span class="keyword">explicit</span> <a class="code" href="a00015.html" title="Template for quaternion.">tquat</a>(
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<a name="l00075"></a>00075 value_type <span class="keyword">const</span> & w,
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<a name="l00076"></a>00076 value_type <span class="keyword">const</span> & x,
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<a name="l00077"></a>00077 value_type <span class="keyword">const</span> & y,
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<a name="l00078"></a>00078 value_type <span class="keyword">const</span> & z);
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<a name="l00079"></a>00079
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<a name="l00080"></a>00080 <span class="comment">// Convertions</span>
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<a name="l00081"></a>00081 <span class="comment">//explicit tquat(valType const & pitch, valType const & yaw, valType const & roll);</span>
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<a name="l00083"></a>00083 <span class="comment"></span> <span class="keyword">explicit</span> <a class="code" href="a00015.html" title="Template for quaternion.">tquat</a>(
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<a name="l00084"></a>00084 <a class="code" href="a00017.html" title="Basic 3D vector type.">tvec3<T></a> <span class="keyword">const</span> & <a class="code" href="a00210.html#gaca5e7ee5447c6b1826a96081cf31c1e2" title="Returns euler angles, yitch as x, yaw as y, roll as z.">eulerAngles</a>);
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<a name="l00085"></a>00085 <span class="keyword">explicit</span> <a class="code" href="a00015.html" title="Template for quaternion.">tquat</a>(
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<a name="l00086"></a>00086 <a class="code" href="a00010.html" title="Template for 3 * 3 matrix of floating-point numbers.">tmat3x3<T></a> <span class="keyword">const</span> & m);
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<a name="l00087"></a>00087 <span class="keyword">explicit</span> <a class="code" href="a00015.html" title="Template for quaternion.">tquat</a>(
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<a name="l00088"></a>00088 <a class="code" href="a00014.html" title="Template for 4 * 4 matrix of floating-point numbers.">tmat4x4<T></a> <span class="keyword">const</span> & m);
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<a name="l00089"></a>00089
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<a name="l00090"></a>00090 <span class="comment">// Accesses</span>
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<a name="l00091"></a>00091 value_type & operator[](<span class="keywordtype">int</span> i);
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<a name="l00092"></a>00092 value_type <span class="keyword">const</span> & operator[](<span class="keywordtype">int</span> i) <span class="keyword">const</span>;
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<a name="l00093"></a>00093
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<a name="l00094"></a>00094 <span class="comment">// Operators</span>
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<a name="l00095"></a>00095 <a class="code" href="a00015.html" title="Template for quaternion.">tquat<T></a> & operator*=(value_type <span class="keyword">const</span> & s);
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<a name="l00096"></a>00096 <a class="code" href="a00015.html" title="Template for quaternion.">tquat<T></a> & operator/=(value_type <span class="keyword">const</span> & s);
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<a name="l00097"></a>00097 };
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<a name="l00098"></a>00098
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<a name="l00099"></a>00099 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00100"></a>00100 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> operator- (
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<a name="l00101"></a>00101 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
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<a name="l00102"></a>00102
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<a name="l00103"></a>00103 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00104"></a>00104 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> operator+ (
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<a name="l00105"></a>00105 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
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<a name="l00106"></a>00106 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & p);
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<a name="l00107"></a>00107
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<a name="l00108"></a>00108 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00109"></a>00109 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> operator* (
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<a name="l00110"></a>00110 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
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<a name="l00111"></a>00111 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & p);
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<a name="l00112"></a>00112
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<a name="l00113"></a>00113 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00114"></a>00114 <a class="code" href="a00017.html" title="Basic 3D vector type.">detail::tvec3<T></a> operator* (
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<a name="l00115"></a>00115 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
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<a name="l00116"></a>00116 <a class="code" href="a00017.html" title="Basic 3D vector type.">detail::tvec3<T></a> <span class="keyword">const</span> & v);
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<a name="l00117"></a>00117
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<a name="l00118"></a>00118 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00119"></a>00119 <a class="code" href="a00017.html" title="Basic 3D vector type.">detail::tvec3<T></a> operator* (
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<a name="l00120"></a>00120 <a class="code" href="a00017.html" title="Basic 3D vector type.">detail::tvec3<T></a> <span class="keyword">const</span> & v,
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<a name="l00121"></a>00121 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
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<a name="l00122"></a>00122
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<a name="l00123"></a>00123 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00124"></a>00124 <a class="code" href="a00018.html" title="Basic 4D vector type.">detail::tvec4<T></a> operator* (
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<a name="l00125"></a>00125 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
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<a name="l00126"></a>00126 <a class="code" href="a00018.html" title="Basic 4D vector type.">detail::tvec4<T></a> <span class="keyword">const</span> & v);
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<a name="l00127"></a>00127
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<a name="l00128"></a>00128 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00129"></a>00129 <a class="code" href="a00018.html" title="Basic 4D vector type.">detail::tvec4<T></a> operator* (
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<a name="l00130"></a>00130 <a class="code" href="a00018.html" title="Basic 4D vector type.">detail::tvec4<T></a> <span class="keyword">const</span> & v,
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<a name="l00131"></a>00131 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
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<a name="l00132"></a>00132
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<a name="l00133"></a>00133 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00134"></a>00134 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> operator* (
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<a name="l00135"></a>00135 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
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<a name="l00136"></a>00136 <span class="keyword">typename</span> detail::tquat<T>::value_type <span class="keyword">const</span> & s);
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<a name="l00137"></a>00137
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<a name="l00138"></a>00138 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00139"></a>00139 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> operator* (
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<a name="l00140"></a>00140 <span class="keyword">typename</span> detail::tquat<T>::value_type <span class="keyword">const</span> & s,
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<a name="l00141"></a>00141 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
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<a name="l00142"></a>00142
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<a name="l00143"></a>00143 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00144"></a>00144 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> operator/ (
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<a name="l00145"></a>00145 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
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<a name="l00146"></a>00146 <span class="keyword">typename</span> detail::tquat<T>::value_type <span class="keyword">const</span> & s);
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<a name="l00147"></a>00147
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<a name="l00148"></a>00148 } <span class="comment">//namespace detail</span>
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<a name="l00149"></a>00149
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<a name="l00152"></a>00152
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<a name="l00156"></a>00156 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00157"></a>00157 T <a class="code" href="a00144.html#ga60de55d549a96b9303730a10173e6fa3" title="Returns the length of x, i.e., sqrt(x * x).">length</a>(
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<a name="l00158"></a>00158 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
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<a name="l00159"></a>00159
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<a name="l00163"></a>00163 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00164"></a>00164 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00144.html#gabbb9186ee077ee7664dc51d05df3f43d" title="Returns a vector in the same direction as x but with length of 1.">normalize</a>(
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<a name="l00165"></a>00165 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
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<a name="l00166"></a>00166
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<a name="l00170"></a>00170 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00171"></a>00171 T <a class="code" href="a00144.html#gaf7ca312d4c8949ecfe9615d9777aa242" title="Returns the dot product of x and y, i.e., result = x * y.">dot</a>(
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<a name="l00172"></a>00172 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q1,
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<a name="l00173"></a>00173 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q2);
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<a name="l00174"></a>00174
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<a name="l00178"></a>00178 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00179"></a>00179 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> mix(
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<a name="l00180"></a>00180 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & x,
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<a name="l00181"></a>00181 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & y,
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<a name="l00182"></a>00182 T <span class="keyword">const</span> & a);
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<a name="l00183"></a>00183
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<a name="l00187"></a>00187 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00188"></a>00188 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00164.html#gac2e575634cbe9976962cce19baa83936" title="Returns the q conjugate.">conjugate</a>(
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<a name="l00189"></a>00189 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
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<a name="l00190"></a>00190
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<a name="l00194"></a>00194 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00195"></a>00195 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00146.html#gaf845b72628caa525a914e7f0f85bbb66" title="Return the inverse of a mat2 matrix.">inverse</a>(
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<a name="l00196"></a>00196 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q);
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<a name="l00197"></a>00197
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<a name="l00201"></a>00201 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00202"></a>00202 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00162.html#ga6734e16a89f7c9ae2a5774bd86c0d79c" title="Builds a rotation 4 * 4 matrix created from an axis vector and an angle expressed in degrees...">rotate</a>(
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<a name="l00203"></a>00203 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & q,
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<a name="l00204"></a>00204 <span class="keyword">typename</span> detail::tquat<T>::value_type <span class="keyword">const</span> & <a class="code" href="a00210.html#ga9eb5d8efb18df5d24452ac826bb4af70" title="Returns the quaternion rotation angle.">angle</a>,
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<a name="l00205"></a>00205 <a class="code" href="a00017.html" title="Basic 3D vector type.">detail::tvec3<T></a> <span class="keyword">const</span> & v);
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<a name="l00206"></a>00206
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<a name="l00210"></a>00210 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00211"></a>00211 <a class="code" href="a00010.html" title="Template for 3 * 3 matrix of floating-point numbers.">detail::tmat3x3<T></a> <a class="code" href="a00164.html#ga815da020156496d268b9aaa72fe60ea0" title="Converts a quaternion to a 3 * 3 matrix.">mat3_cast</a>(
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<a name="l00212"></a>00212 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & x);
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<a name="l00213"></a>00213
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<a name="l00217"></a>00217 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00218"></a>00218 <a class="code" href="a00014.html" title="Template for 4 * 4 matrix of floating-point numbers.">detail::tmat4x4<T></a> <a class="code" href="a00164.html#ga2515d70c9edd4c6e68b11969a6e8549d" title="Converts a quaternion to a 4 * 4 matrix.">mat4_cast</a>(
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<a name="l00219"></a>00219 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <span class="keyword">const</span> & x);
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<a name="l00220"></a>00220
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<a name="l00224"></a>00224 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00225"></a>00225 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00164.html#ga60f5a15b081119d6dd09038ae856e7e4" title="Converts a 3 * 3 matrix to a quaternion.">quat_cast</a>(
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<a name="l00226"></a>00226 <a class="code" href="a00010.html" title="Template for 3 * 3 matrix of floating-point numbers.">detail::tmat3x3<T></a> <span class="keyword">const</span> & x);
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<a name="l00227"></a>00227
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<a name="l00231"></a>00231 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
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<a name="l00232"></a>00232 <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<T></a> <a class="code" href="a00164.html#ga60f5a15b081119d6dd09038ae856e7e4" title="Converts a 3 * 3 matrix to a quaternion.">quat_cast</a>(
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<a name="l00233"></a>00233 <a class="code" href="a00014.html" title="Template for 4 * 4 matrix of floating-point numbers.">detail::tmat4x4<T></a> <span class="keyword">const</span> & x);
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<a name="l00234"></a>00234
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<a name="l00238"></a><a class="code" href="a00164.html#ga60408579db470456070a3336295625a7">00238</a> <span class="keyword">typedef</span> <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<float></a> <a class="code" href="a00164.html#ga60408579db470456070a3336295625a7" title="Quaternion of floating-point numbers.">quat</a>;
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<a name="l00239"></a>00239
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<a name="l00243"></a><a class="code" href="a00164.html#ga552e75db1669a7a86b59070d4efd6941">00243</a> <span class="keyword">typedef</span> <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<detail::thalf></a> <a class="code" href="a00164.html#ga552e75db1669a7a86b59070d4efd6941" title="Quaternion of half-precision floating-point numbers.">hquat</a>;
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<a name="l00244"></a>00244
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<a name="l00248"></a><a class="code" href="a00164.html#gaae07c293efbe1c530ff18044a15fe662">00248</a> <span class="keyword">typedef</span> <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<float></a> <a class="code" href="a00164.html#gaae07c293efbe1c530ff18044a15fe662" title="Quaternion of single-precision floating-point numbers.">fquat</a>;
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<a name="l00249"></a>00249
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<a name="l00253"></a><a class="code" href="a00164.html#ga5428321324094c7170d6133c8139d255">00253</a> <span class="keyword">typedef</span> <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<double></a> <a class="code" href="a00164.html#ga5428321324094c7170d6133c8139d255" title="Quaternion of double-precision floating-point numbers.">dquat</a>;
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<a name="l00254"></a>00254
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<a name="l00258"></a><a class="code" href="a00164.html#ga5acd0f3e9f9e3c0e6577440443ec4594">00258</a> <span class="keyword">typedef</span> <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<lowp_float></a> <a class="code" href="a00164.html#ga5acd0f3e9f9e3c0e6577440443ec4594" title="Quaternion of low precision floating-point numbers.">lowp_quat</a>;
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<a name="l00259"></a>00259
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<a name="l00263"></a><a class="code" href="a00164.html#gae93fe73ea5fe5e2150c2eb0641394dc8">00263</a> <span class="keyword">typedef</span> <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<mediump_float></a> <a class="code" href="a00164.html#gae93fe73ea5fe5e2150c2eb0641394dc8" title="Quaternion of medium precision floating-point numbers.">mediump_quat</a>;
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<a name="l00264"></a>00264
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<a name="l00268"></a><a class="code" href="a00164.html#ga8a7c2c751ad30db9ec4268a6b7d99f6c">00268</a> <span class="keyword">typedef</span> <a class="code" href="a00015.html" title="Template for quaternion.">detail::tquat<highp_float></a> <a class="code" href="a00164.html#ga8a7c2c751ad30db9ec4268a6b7d99f6c" title="Quaternion of high precision floating-point numbers.">highp_quat</a>;
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<a name="l00269"></a>00269
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<a name="l00271"></a>00271 } <span class="comment">//namespace glm</span>
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<a name="l00272"></a>00272
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<a name="l00273"></a>00273 <span class="preprocessor">#include "quaternion.inl"</span>
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<a name="l00274"></a>00274
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<a name="l00275"></a>00275 <span class="preprocessor">#endif//GLM_GTC_quaternion</span>
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</pre></div></div>
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