Fixed dual quaternion build on Clang, fixed space characters #49

glm/gtx/dual_quaternion.hpp

@@ -8,10 +8,10 @@
 /// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
 /// copies of the Software, and to permit persons to whom the Software is
 /// furnished to do so, subject to the following conditions:
-/// 
+///
 /// The above copyright notice and this permission notice shall be included in
 /// all copies or substantial portions of the Software.
-/// 
+///
 /// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
 /// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
 /// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
@@ -32,9 +32,9 @@
 ///
 /// @defgroup gtc_dual_quaternion GLM_GTX_dual_quaternion
 /// @ingroup gtc
-/// 
+///
 /// @brief Defines a templated dual-quaternion type and several dual-quaternion operations.
-/// 
+///
 /// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities.
 ///////////////////////////////////////////////////////////////////////////////////
 
@@ -54,187 +54,190 @@
 namespace glm{
 namespace detail
 {
-    template <typename T> 
-    struct tdualquat// : public genType<T, tquat>
-    {
-        enum ctor{null};
-
-        typedef T value_type;
-        typedef glm::detail::tquat<T> part_type;
-        typedef std::size_t size_type;
-
-    public:
-        glm::detail::tquat<T> real, dual;
-
-        GLM_FUNC_DECL size_type length() const;
-
-        // Constructors
-        tdualquat();
-        explicit tdualquat(tquat<T> const & real);
-        tdualquat(tquat<T> const & real,tquat<T> const & dual);
-        tdualquat(tquat<T> const & orientation,tvec3<T> const& translation);
-
-        //////////////////////////////////////////////////////////////
-        // tdualquat conversions
-        explicit tdualquat(tmat2x4<T> const & holder_mat);
-        explicit tdualquat(tmat3x4<T> const & aug_mat);
-
-        // Accesses
-        typename part_type & operator[](int i);
-        typename part_type const & operator[](int i) const;
-
-        // Operators
-        tdualquat<T> & operator*=(value_type const & s);
-        tdualquat<T> & operator/=(value_type const & s);
-    };
-
-    template <typename T> 
-    detail::tquat<T> operator- (
-        detail::tquat<T> const & q);
-    
-    template <typename T> 
-    detail::tdualquat<T> operator+ ( 
-        detail::tdualquat<T> const & q, 
-        detail::tdualquat<T> const & p); 
-
-    template <typename T>
-    detail::tdualquat<T> operator* (
-        detail::tdualquat<T> const & q, 
-        detail::tdualquat<T> const & p); 
-
-    template <typename T> 
-    detail::tvec3<T> operator* (
-        detail::tquat<T> const & q, 
-        detail::tvec3<T> const & v);
-
-    template <typename T> 
-    detail::tvec3<T> operator* (
-        detail::tvec3<T> const & v,
-        detail::tquat<T> const & q);
-
-    template <typename T> 
-    detail::tvec4<T> operator* (
-        detail::tquat<T> const & q, 
-        detail::tvec4<T> const & v);
-
-    template <typename T> 
-    detail::tvec4<T> operator* (
-        detail::tvec4<T> const & v,
-        detail::tquat<T> const & q);
-
-    template <typename T> 
-    detail::tdualquat<T> operator* (
-        detail::tdualquat<T> const & q, 
-        typename detail::tdualquat<T>::value_type const & s);
-
-    template <typename T> 
-    detail::tdualquat<T> operator* (
-        typename detail::tdualquat<T>::value_type const & s,
-        detail::tdualquat<T> const & q);
-
-    template <typename T> 
-    detail::tdualquat<T> operator/ (
-        detail::tdualquat<T> const & q, 
-        typename detail::tdualquat<T>::value_type const & s);
+	template <typename T>
+	struct tdualquat// : public genType<T, tquat>
+	{
+		enum ctor{null};
+		
+		typedef T value_type;
+		typedef glm::detail::tquat<T> part_type;
+		typedef std::size_t size_type;
+		
+	public:
+		glm::detail::tquat<T> real, dual;
+		
+		GLM_FUNC_DECL size_type length() const;
+		
+		// Constructors
+		tdualquat();
+		explicit tdualquat(tquat<T> const & real);
+		tdualquat(tquat<T> const & real,tquat<T> const & dual);
+		tdualquat(tquat<T> const & orientation,tvec3<T> const& translation);
+		
+		//////////////////////////////////////////////////////////////
+		// tdualquat conversions
+		explicit tdualquat(tmat2x4<T> const & holder_mat);
+		explicit tdualquat(tmat3x4<T> const & aug_mat);
+		
+		// Accesses
+		part_type & operator[](int i);
+		part_type const & operator[](int i) const;
+		
+		// Operators
+		tdualquat<T> & operator*=(value_type const & s);
+		tdualquat<T> & operator/=(value_type const & s);
+	};
+	
+	template <typename T>
+	detail::tquat<T> operator- (
+		detail::tquat<T> const & q);
+	
+	template <typename T>
+	detail::tdualquat<T> operator+ (
+		detail::tdualquat<T> const & q,
+		detail::tdualquat<T> const & p);
+	
+	template <typename T>
+	detail::tdualquat<T> operator* (
+		detail::tdualquat<T> const & q,
+		detail::tdualquat<T> const & p);
+	
+	template <typename T>
+	detail::tvec3<T> operator* (
+		detail::tquat<T> const & q,
+		detail::tvec3<T> const & v);
+	
+	template <typename T>
+	detail::tvec3<T> operator* (
+		detail::tvec3<T> const & v,
+		detail::tquat<T> const & q);
+	
+	template <typename T>
+	detail::tvec4<T> operator* (
+		detail::tquat<T> const & q,
+		detail::tvec4<T> const & v);
+	
+	template <typename T>
+	detail::tvec4<T> operator* (
+		detail::tvec4<T> const & v,
+		detail::tquat<T> const & q);
+	
+	template <typename T>
+	detail::tdualquat<T> operator* (
+		detail::tdualquat<T> const & q,
+		typename detail::tdualquat<T>::value_type const & s);
+	
+	template <typename T>
+	detail::tdualquat<T> operator* (
+		typename detail::tdualquat<T>::value_type const & s,
+		detail::tdualquat<T> const & q);
+	
+	template <typename T>
+	detail::tdualquat<T> operator/ (
+		detail::tdualquat<T> const & q,
+		typename detail::tdualquat<T>::value_type const & s);
 } //namespace detail
-
-    /// @addtogroup gtc_dual_quaternion
-    /// @{
-
-    /// Returns the normalized quaternion. 
-    /// 
-    /// @see gtc_dual_quaternion
-    template <typename T> 
-    detail::tdualquat<T> normalize(
-        detail::tdualquat<T> const & q);
-
-    /// Returns the linear interpolation of two dual quaternion. 
-    /// 
-    /// @see gtc_dual_quaternion
-    template <typename T>
-    detail::tdualquat<T> lerp (
-        detail::tdualquat<T> const & x, 
-        detail::tdualquat<T> const & y,
-        typename detail::tdualquat<T>::value_type const & a); 
-
-    /// Returns the q inverse. 
-    /// 
-    /// @see gtc_dual_quaternion
-    template <typename T> 
-    detail::tdualquat<T> inverse(
-        detail::tdualquat<T> const & q);
-
-    /// Extracts a rotation part from dual-quaternion to a 3 * 3 matrix. 
-    /// 
-    /// @see gtc_dual_quaternion
-    template <typename T> 
-    detail::tmat3x3<T> mat3_cast(
-        detail::tdualquat<T> const & x);
-
-    /// Converts a quaternion to a 2 * 4 matrix. 
-    /// 
-    /// @see gtc_dual_quaternion
-    template <typename T> 
-    detail::tmat2x4<T> mat2x4_cast(
-        detail::tdualquat<T> const & x);
-
-    /// Converts a quaternion to a 3 * 4 matrix. 
-    /// 
-    /// @see gtc_dual_quaternion
-    template <typename T> 
-    detail::tmat3x4<T> mat3x4_cast(
-        detail::tdualquat<T> const & x);
-
-    /// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion. 
-    /// 
-    /// @see gtc_dual_quaternion
-    template <typename T> 
-    detail::tdualquat<T> dualquat_cast(
-        detail::tmat2x4<T> const & x);
-
-    /// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion. 
-    /// 
-    /// @see gtc_dual_quaternion
-    template <typename T> 
-    detail::tdualquat<T> dualquat_cast(
-        detail::tmat3x4<T> const & x);
-
-    /// Dual-quaternion of floating-point numbers. 
-    /// 
-    /// @see gtc_dual_quaternion
-    typedef detail::tdualquat<float> dualquat;
-
-    /// Dual-quaternion of half-precision floating-point numbers.
-    /// 
-    /// @see gtc_dual_quaternion
-    typedef detail::tdualquat<detail::half>	hdualquat;
-
-    /// Dual-quaternion of single-precision floating-point numbers. 
-    /// 
-    /// @see gtc_dual_quaternion
-    typedef detail::tdualquat<float>	fdualquat;
-
-    /// Dual-quaternion of double-precision floating-point numbers. 
-    /// 
-    /// @see gtc_dual_quaternion
-    typedef detail::tdualquat<double>	ddualquat;
-
-    /// Dual-quaternion of low precision floating-point numbers.
-    /// 
-    /// @see gtc_dual_quaternion
-    typedef detail::tdualquat<lowp_float>		lowp_dualquat;
-
-    /// Dual-quaternion of medium precision floating-point numbers. 
-    /// 
-    /// @see gtc_dual_quaternion
-    typedef detail::tdualquat<mediump_float>	mediump_dualquat;
-
-    /// Dual-quaternion of high precision floating-point numbers. 
-    /// 
-    /// @see gtc_dual_quaternion
-    typedef detail::tdualquat<highp_float>		highp_dualquat;
-
-    /// @}
+	
+	/// @addtogroup gtc_dual_quaternion
+	/// @{
+
+	/// Returns the normalized quaternion.
+	///
+	/// @see gtc_dual_quaternion
+	template <typename T>
+	detail::tdualquat<T> normalize(
+		detail::tdualquat<T> const & q);
+
+	/// Returns the linear interpolation of two dual quaternion.
+	///
+	/// @see gtc_dual_quaternion
+	template <typename T>
+	detail::tdualquat<T> lerp (
+		detail::tdualquat<T> const & x,
+		detail::tdualquat<T> const & y,
+		typename detail::tdualquat<T>::value_type const & a);
+
+	/// Returns the q inverse.
+	///
+	/// @see gtc_dual_quaternion
+	template <typename T>
+	detail::tdualquat<T> inverse(
+		detail::tdualquat<T> const & q);
+
+	/*
+	/// Extracts a rotation part from dual-quaternion to a 3 * 3 matrix.
+	/// TODO
+	///
+	/// @see gtc_dual_quaternion
+	template <typename T>
+	detail::tmat3x3<T> mat3_cast(
+		detail::tdualquat<T> const & x);
+	*/
+	
+	/// Converts a quaternion to a 2 * 4 matrix.
+	///
+	/// @see gtc_dual_quaternion
+	template <typename T>
+	detail::tmat2x4<T> mat2x4_cast(
+		detail::tdualquat<T> const & x);
+
+	/// Converts a quaternion to a 3 * 4 matrix.
+	///
+	/// @see gtc_dual_quaternion
+	template <typename T>
+	detail::tmat3x4<T> mat3x4_cast(
+		detail::tdualquat<T> const & x);
+
+	/// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
+	///
+	/// @see gtc_dual_quaternion
+	template <typename T>
+	detail::tdualquat<T> dualquat_cast(
+		detail::tmat2x4<T> const & x);
+
+	/// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
+	///
+	/// @see gtc_dual_quaternion
+	template <typename T>
+	detail::tdualquat<T> dualquat_cast(
+		detail::tmat3x4<T> const & x);
+
+	/// Dual-quaternion of floating-point numbers.
+	///
+	/// @see gtc_dual_quaternion
+	typedef detail::tdualquat<float> dualquat;
+
+	/// Dual-quaternion of half-precision floating-point numbers.
+	///
+	/// @see gtc_dual_quaternion
+	typedef detail::tdualquat<detail::half>	hdualquat;
+
+	/// Dual-quaternion of single-precision floating-point numbers.
+	///
+	/// @see gtc_dual_quaternion
+	typedef detail::tdualquat<float>	fdualquat;
+
+	/// Dual-quaternion of double-precision floating-point numbers.
+	///
+	/// @see gtc_dual_quaternion
+	typedef detail::tdualquat<double>	ddualquat;
+
+	/// Dual-quaternion of low precision floating-point numbers.
+	///
+	/// @see gtc_dual_quaternion
+	typedef detail::tdualquat<lowp_float>		lowp_dualquat;
+
+	/// Dual-quaternion of medium precision floating-point numbers.
+	///
+	/// @see gtc_dual_quaternion
+	typedef detail::tdualquat<mediump_float>	mediump_dualquat;
+
+	/// Dual-quaternion of high precision floating-point numbers.
+	///
+	/// @see gtc_dual_quaternion
+	typedef detail::tdualquat<highp_float>		highp_dualquat;
+
+	/// @}
 } //namespace glm
 
 #include "dual_quaternion.inl"

glm/gtx/dual_quaternion.inl

@@ -20,8 +20,8 @@
 /// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
 /// THE SOFTWARE.
 ///
-/// @ref gtx_quaternion
-/// @file glm/gtx/quaternion.inl
+/// @ref gtx_dual_quaternion
+/// @file glm/gtx/dual_quaternion.inl
 /// @date 2013-02-10 / 2013-02-13
 /// @author Maksim Vorobiev ([email protected])
 ///////////////////////////////////////////////////////////////////////////////////
@@ -31,396 +31,396 @@
 namespace glm{
 namespace detail
 {
-    template <typename T>
-    GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tdualquat<T>::size_type tdualquat<T>::length() const
-    {
-        return 8;
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat() : 
-          real(tquat<T>()),
-          dual(tquat<T>(tdualquat<T>::value_type(0),tdualquat<T>::value_type(0),tdualquat<T>::value_type(0),tdualquat<T>::value_type(0)))
-    {}
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
-    (
-        tquat<T> const & r
-    ) :
-        real(r),
-        dual(tquat<T>(tdualquat<T>::value_type(0),tdualquat<T>::value_type(0),tdualquat<T>::value_type(0),tdualquat<T>::value_type(0)))
-    {}
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
-    (
-        tquat<T> const & r,
-        tquat<T> const & d
-    ) :
-        real(r),
-        dual(d)
-    {}
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
-    (
-        tquat<T> const & q,
-        tvec3<T> const& p
-    ) :
-        real(q),
-        dual(-0.5f*( p.x*q.x + p.y*q.y + p.z*q.z),
-              0.5f*( p.x*q.w + p.y*q.z - p.z*q.y),
-              0.5f*(-p.x*q.z + p.y*q.w + p.z*q.x),
-              0.5f*( p.x*q.y - p.y*q.x + p.z*q.w))
-    {}
-
-    //////////////////////////////////////////////////////////////
-    // tdualquat conversions
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
-    (
-        tmat2x4<T> const & holder_mat
-    ) 
-    {
-        *this = dualquat_cast<>
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
-    (
-        tmat3x4<T> const & m
-    )
-    {
-        *this = dualquat_cast(m);
-    }
-
-    //////////////////////////////////////////////////////////////
-    // tdualquat<T> accesses
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER typename tdualquat<T>::part_type & tdualquat<T>::operator [] (int i)
-    {
-        return (&real)[i];
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER typename tdualquat<T>::part_type const & tdualquat<T>::operator [] (int i) const
-    {
-        return (&real)[i];
-    }
-
-    //////////////////////////////////////////////////////////////
-    // tdualquat<valType> operators
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tdualquat<T> & tdualquat<T>::operator *=
-    (
-        value_type const & s
-    )
-    {
-        this->real *= s;
-        this->dual *= s;
-        return *this;
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER tdualquat<T> & tdualquat<T>::operator /=
-    (
-        value_type const & s
-    )
-    {
-        this->real /= s;
-        this->dual /= s;
-        return *this;
-    }
-
-    //////////////////////////////////////////////////////////////
-    // tquat<valType> external operators
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> operator-
-    (
-        detail::tdualquat<T> const & q
-    )
-    {
-        return detail::tdualquat<T>(-this->real,-this->dual);
-    }
-
-    template <typename T>
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> operator+
-    (
-        detail::tdualquat<T> const & q, 
-        detail::tdualquat<T> const & p
-    )
-    {
-        return detail::tdualquat<T>(q.real + p.real,q.dual + p.dual);
-    }
-
-    template <typename T>
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> operator*
-    (
-        detail::tdualquat<T> const & p, 
-        detail::tdualquat<T> const & o
-    )
-    {
-        return detail::tdualquat<T>(p.real * o.real,p.real * o.dual + p.dual * o.real);
-    }
-
-    // Transformation
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tvec3<T> operator* 
-    (
-        detail::tdualquat<T> const & q, 
-        detail::tvec3<T> const & v
-    )
-    {
-        const detail::tvec3<T> real_v3(q.real.x,q.real.y,q.real.z);
-        const detail::tvec3<T> dual_v3(q.dual.x,q.dual.y,q.dual.z);
-        return (cross(real_v3, cross(real_v3,v) + v * q.real.w + dual_v3) + dual_v3 * q.real.w - real_v3 * q.dual.w) * detail::tdualquat<T>::value_type(2) + v;    
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tvec3<T> operator* 
-    (
-        detail::tvec3<T> const & v,
-        detail::tdualquat<T> const & q
-    )
-    {
-        return inverse(q) * v;
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tvec4<T> operator* 
-    (
-        detail::tdualquat<T> const & q, 
-        detail::tvec4<T> const & v
-    )
-    {
-        return detail::tvec4<T>(q * detail::tvec3<T>(v), v.w);
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tvec4<T> operator* (
-        detail::tvec4<T> const & v,
-        detail::tdualquat<T> const & q)
-    {
-        return inverse(q) * v;
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> operator* 
-    (
-        detail::tdualquat<T> const & q, 
-        typename detail::tdualquat<T>::value_type const & s
-    )
-    {
-        return detail::tdualquat<T>(q.real * s, q.dual * s);
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> operator* 
-    (
-        typename detail::tdualquat<T>::value_type const & s,
-        detail::tdualquat<T> const & q 
-    )
-    {
-        return q * s;
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> operator/ 
-    (
-        detail::tdualquat<T> const & q, 
-        typename detail::tdualquat<T>::value_type const & s
-    )
-    {
-        return detail::tdualquat<T>(q.real / s, q.dual / s);
-    }
-
-    //////////////////////////////////////
-    // Boolean operators
-    template <typename T> 
-    GLM_FUNC_QUALIFIER bool operator==
-    (
-        detail::tdualquat<T> const & q1, 
-        detail::tdualquat<T> const & q2
-    )
-    {
-        return (q1.real == q2.real) && (q1.dual == q2.dual);
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER bool operator!=
-    (
-        detail::tdualquat<T> const & q1, 
-        detail::tdualquat<T> const & q2
-    )
-    {
-        return (q1.real != q2.dual) || (q1.real != q2.dual);
-    }
-}//namespace detail
-
-    ////////////////////////////////////////////////////////
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> normalize
-    (
-        detail::tdualquat<T> const & q
-    )
-    {
-        return q / length(q.real);
-    }
-
-    template <typename T>
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> lerp
-    (
-        detail::tdualquat<T> const & x, 
-        detail::tdualquat<T> const & y, 
-        typename detail::tdualquat<T>::value_type const & a
-    )
-    { // Dual Quaternion Linear blend aka DLB:
-        // Lerp is only defined in [0, 1]
-        assert(a >= T(0));
-        assert(a <= T(1));
-        const detail::tdualquat<T>::value_type k = dot(x.real,y.real) < detail::tdualquat<T>::value_type(0) ? -a : a;
-        const detail::tdualquat<T>::value_type one(1);
-        return detail::tdualquat<T>(x * (one - a) + y * k);
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> inverse
-    (
-        detail::tdualquat<T> const & q
-    )
-    {
-        const glm::detail::tquat<T> real = conjugate(q.real);
-        const glm::detail::tquat<T> dual = conjugate(q.dual);
-        return detail::tdualquat<T>(real, dual + (real * (-2.0f * dot(real,dual))));
-    }
-    
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat3x3<T> mat3_cast
-    (
-        detail::tdualquat<T> const & x
-    )
-    {
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat2x4<T> mat2x4_cast
-    (
-        detail::tdualquat<T> const & x
-    )
-    {
-        return detail::tmat2x4<T>( x[0].x, x[0].y, x[0].z, x[0].w, x[1].x, x[1].y, x[1].z, x[1].w );
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tmat3x4<T> mat3x4_cast
-    (
-        detail::tdualquat<T> const & x
-    )
-    {
-        detail::tquat<T> r = x.real / length2(x.real);
-        
-        const detail::tquat<T> rr(r.w * x.real.w, r.x * x.real.x, r.y * x.real.y, r.z * x.real.z);
-        r *= detail::tdualquat<T>::value_type(2);
-
-        const detail::tdualquat<T>::value_type xy = r.x*d.real.y;
-        const detail::tdualquat<T>::value_type xz = r.x*d.real.z;
-        const detail::tdualquat<T>::value_type yz = r.y*d.real.z;
-        const detail::tdualquat<T>::value_type wx = r.w*d.real.x;
-        const detail::tdualquat<T>::value_type wy = r.w*d.real.y;
-        const detail::tdualquat<T>::value_type wz = r.w*d.real.z;
-
-        const detail::tvec4<T> a(  
-                                    rr.w + rr.x - rr.y - rr.z, 
-                                    xy - wz,
-                                    xz + wy,
-                                  -(x.dual.w * r.x - x.dual.x * r.w + x.dual.y * r.z - x.dual.z * r.y) 
-        );
-
-        const detail::tvec4<T> b(
-                                    xy + wz, 
-                                    rr.w + rr.y - rr.x - rr.z, 
-                                    yz - wx,
-                                  -(x.dual.w * r.y - x.dual.x * r.z - x.dual.y * r.w + x.dual.z * r.x)
-        );
-
-        const detail::tvec4<T> c(
-                                    xz - wy, 
-                                    yz + wx, 
-                                    rr.w + rr.z - rr.x - rr.y,
-                                  -(x.dual.w * r.z + x.dual.x * r.y - x.dual.y * r.x - x.dual.z * r.w)
-        );
-
-        return detail::tmat3x4<T>(a,b,c);
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> dualquat_cast
-    (
-        detail::tmat2x4<T> const & x
-    )
-    {
-        return detail::tdualquat (
-            detail::tquat<T> ( x[0].w, x[0].x, x[0].y, x[0].z ),
-            detail::tquat<T> ( x[1].w, x[1].x, x[1].y, x[1].z )
-        );
-    }
-
-    template <typename T> 
-    GLM_FUNC_QUALIFIER detail::tdualquat<T> dualquat_cast
-    (
-        detail::tmat3x4<T> const & x
-    )
-    {
-        detail::tquat<T> real;
-
-        const detail::tdualquat<T>::value_type trace = x[0].x + x[1].y + x[2].z;
-        if(trace > detail::tdualquat<T>::value_type(0))
-        {
-            const detail::tdualquat<T>::value_type r = sqrt(detail::tdualquat<T>::value_type(1) + trace);
-            const detail::tdualquat<T>::value_type invr = detail::tdualquat<T>::value_type(0.5) / r;
-            real.w = detail::tdualquat<T>::value_type(0.5) * r;
-            real.x = (x[2].y - x[1].z) * invr;
-            real.y = (x[0].z - x[2].x) * invr;
-            real.z = (x[1].x - x[0].y) * invr;
-        }
-        else if(x[0].x > x[1].y && x[0].x > x[2].z)
-        {
-            const detail::tdualquat<T>::value_type r = sqrt(detail::tdualquat<T>::value_type(1) + x[0].x - x[1].y - x[2].z);
-            const detail::tdualquat<T>::value_type invr = detail::tdualquat<T>::value_type(0.5) / r;
-            real.x = detail::tdualquat<T>::value_type(0.5)*r;
-            real.y = (x[1].x + x[0].y) * invr;
-            real.z = (x[0].z + x[2].x) * invr;
-            real.w = (x[2].y - x[1].z) * invr;
-        }
-        else if(x[1].y > x[2].z)
-        {
-            const detail::tdualquat<T>::value_type r = sqrt(detail::tdualquat<T>::value_type(1) + x[1].y - x[0].x - x[2].z);
-            const detail::tdualquat<T>::value_type invr = detail::tdualquat<T>::value_type(0.5) / r;
-            x = (x[1].x + x[0].y) * invr;
-            y = detail::tdualquat<T>::value_type(0.5) * r;
-            z = (x[2].y + x[1].z) * invr;
-            w = (x[0].z - x[2].x) * invr;
-        }
-        else
-        {
-            const detail::tdualquat<T>::value_type r = sqrt(detail::tdualquat<T>::value_type(1) + x[2].z - x[0].x - x[1].y);
-            const detail::tdualquat<T>::value_type invr = detail::tdualquat<T>::value_type(0.5) / r;
-            x = (x[0].z + x[2].x) * invr;
-            y = (x[2].y + x[1].z) * invr;
-            z = detail::tdualquat<T>::value_type(0.5) * r;
-            w = (x[1].x - x[0].y) * invr;
-        }
-
-        const detail::tquat<T> dual;
-        dual.x =  0.5f*( x[0].w*real.w + x[1].w*real.z - x[2].w*real.y);
-        dual.y =  0.5f*(-x[0].w*real.z + x[1].w*real.w + x[2].w*real.x);
-        dual.z =  0.5f*( x[0].w*real.y - x[1].w*real.x + x[2].w*real.w);
-        dual.w = -0.5f*( x[0].w*real.x + x[1].w*real.y + x[2].w*real.z);
-        return detail::tdualquat<T>(real,dual);
-    }
+	template <typename T>
+	GLM_FUNC_QUALIFIER GLM_CONSTEXPR typename tdualquat<T>::size_type tdualquat<T>::length() const
+	{
+		return 8;
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat() :
+		real(tquat<T>()),
+		dual(tquat<T>(T(0), T(0), T(0), T(0)))
+	{}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
+	(
+		tquat<T> const & r
+	) :
+		real(r),
+		dual(tquat<T>(T(0), T(0), T(0), T(0)))
+	{}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
+	(
+		tquat<T> const & r,
+		tquat<T> const & d
+	) :
+		real(r),
+		dual(d)
+	{}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
+	(
+		tquat<T> const & q,
+		tvec3<T> const& p
+	) :
+		real(q),
+		dual(
+			-0.5f*( p.x*q.x + p.y*q.y + p.z*q.z),
+			 0.5f*( p.x*q.w + p.y*q.z - p.z*q.y),
+			 0.5f*(-p.x*q.z + p.y*q.w + p.z*q.x),
+			 0.5f*( p.x*q.y - p.y*q.x + p.z*q.w))
+	{}
+
+	//////////////////////////////////////////////////////////////
+	// tdualquat conversions
+	template <typename T>
+	GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
+	(
+		tmat2x4<T> const & m
+	)
+	{
+		*this = dualquat_cast(m);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tdualquat<T>::tdualquat
+	(
+		tmat3x4<T> const & m
+	)
+	{
+		*this = dualquat_cast(m);
+	}
+
+	//////////////////////////////////////////////////////////////
+	// tdualquat<T> accesses
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER typename tdualquat<T>::part_type & tdualquat<T>::operator [] (int i)
+	{
+		return (&real)[i];
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER typename tdualquat<T>::part_type const & tdualquat<T>::operator [] (int i) const
+	{
+		return (&real)[i];
+	}
+
+	//////////////////////////////////////////////////////////////
+	// tdualquat<valType> operators
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tdualquat<T> & tdualquat<T>::operator *=
+	(
+		value_type const & s
+	)
+	{
+		this->real *= s;
+		this->dual *= s;
+		return *this;
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER tdualquat<T> & tdualquat<T>::operator /=
+	(
+		value_type const & s
+	)
+	{
+		this->real /= s;
+		this->dual /= s;
+		return *this;
+	}
+
+	//////////////////////////////////////////////////////////////
+	// tquat<valType> external operators
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> operator-
+	(
+		detail::tdualquat<T> const & q
+	)
+	{
+		return detail::tdualquat<T>(-q.real,-q.dual);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> operator+
+	(
+		detail::tdualquat<T> const & q,
+		detail::tdualquat<T> const & p
+	)
+	{
+		return detail::tdualquat<T>(q.real + p.real,q.dual + p.dual);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> operator*
+	(
+		detail::tdualquat<T> const & p,
+		detail::tdualquat<T> const & o
+	)
+	{
+		return detail::tdualquat<T>(p.real * o.real,p.real * o.dual + p.dual * o.real);
+	}
+
+	// Transformation
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tvec3<T> operator*
+	(
+		detail::tdualquat<T> const & q,
+		detail::tvec3<T> const & v
+	)
+	{
+		detail::tvec3<T> const real_v3(q.real.x,q.real.y,q.real.z);
+		detail::tvec3<T> const dual_v3(q.dual.x,q.dual.y,q.dual.z);
+		return (cross(real_v3, cross(real_v3,v) + v * q.real.w + dual_v3) + dual_v3 * q.real.w - real_v3 * q.dual.w) * T(2) + v;
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tvec3<T> operator*
+	(
+		detail::tvec3<T> const & v,
+		detail::tdualquat<T> const & q
+	)
+	{
+		return inverse(q) * v;
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tvec4<T> operator*
+	(
+		detail::tdualquat<T> const & q,
+		detail::tvec4<T> const & v
+	)
+	{
+		return detail::tvec4<T>(q * detail::tvec3<T>(v), v.w);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tvec4<T> operator*
+	(
+		detail::tvec4<T> const & v,
+		detail::tdualquat<T> const & q
+	)
+	{
+		return inverse(q) * v;
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> operator*
+	(
+		detail::tdualquat<T> const & q,
+		typename detail::tdualquat<T>::value_type const & s
+	)
+	{
+		return detail::tdualquat<T>(q.real * s, q.dual * s);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> operator*
+	(
+		typename detail::tdualquat<T>::value_type const & s,
+		detail::tdualquat<T> const & q
+	)
+	{
+		return q * s;
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> operator/
+	(
+		detail::tdualquat<T> const & q,
+		typename detail::tdualquat<T>::value_type const & s
+	)
+	{
+		return detail::tdualquat<T>(q.real / s, q.dual / s);
+	}
+
+	//////////////////////////////////////
+	// Boolean operators
+	template <typename T>
+	GLM_FUNC_QUALIFIER bool operator==
+	(
+		detail::tdualquat<T> const & q1,
+		detail::tdualquat<T> const & q2
+	)
+	{
+		return (q1.real == q2.real) && (q1.dual == q2.dual);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER bool operator!=
+	(
+		detail::tdualquat<T> const & q1,
+		detail::tdualquat<T> const & q2
+	)
+	{
+		return (q1.real != q2.dual) || (q1.real != q2.dual);
+	}
+	}//namespace detail
+
+	////////////////////////////////////////////////////////
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> normalize
+	(
+		detail::tdualquat<T> const & q
+	)
+	{
+		return q / length(q.real);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> lerp
+	(
+		detail::tdualquat<T> const & x,
+		detail::tdualquat<T> const & y,
+		typename detail::tdualquat<T>::value_type const & a
+	)
+	{
+		// Dual Quaternion Linear blend aka DLB:
+		// Lerp is only defined in [0, 1]
+		assert(a >= T(0));
+		assert(a <= T(1));
+		T const k = dot(x.real,y.real) < detail::tdualquat<T>::value_type(0) ? -a : a;
+		T const one(1);
+		return detail::tdualquat<T>(x * (one - a) + y * k);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> inverse
+	(
+		detail::tdualquat<T> const & q
+	)
+	{
+		const glm::detail::tquat<T> real = conjugate(q.real);
+		const glm::detail::tquat<T> dual = conjugate(q.dual);
+		return detail::tdualquat<T>(real, dual + (real * (-2.0f * dot(real,dual))));
+	}
+	/*
+	 template <typename T>
+	 GLM_FUNC_QUALIFIER detail::tmat3x3<T> mat3_cast
+	 (
+	 detail::tdualquat<T> const & x
+	 )
+	 {
+	 }
+	 */
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tmat2x4<T> mat2x4_cast
+	(
+		detail::tdualquat<T> const & x
+	)
+	{
+		return detail::tmat2x4<T>( x[0].x, x[0].y, x[0].z, x[0].w, x[1].x, x[1].y, x[1].z, x[1].w );
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tmat3x4<T> mat3x4_cast
+	(
+		detail::tdualquat<T> const & x
+	)
+	{
+		detail::tquat<T> r = x.real / length2(x.real);
+		
+		detail::tquat<T> const rr(r.w * x.real.w, r.x * x.real.x, r.y * x.real.y, r.z * x.real.z);
+		r *= T(2);
+		
+		T const xy = r.x * x.real.y;
+		T const xz = r.x * x.real.z;
+		T const yz = r.y * x.real.z;
+		T const wx = r.w * x.real.x;
+		T const wy = r.w * x.real.y;
+		T const wz = r.w * x.real.z;
+		
+		detail::tvec4<T> const a(
+			rr.w + rr.x - rr.y - rr.z,
+			xy - wz,
+			xz + wy,
+			-(x.dual.w * r.x - x.dual.x * r.w + x.dual.y * r.z - x.dual.z * r.y));
+		
+		detail::tvec4<T> const b(
+			xy + wz,
+			rr.w + rr.y - rr.x - rr.z,
+			yz - wx,
+			-(x.dual.w * r.y - x.dual.x * r.z - x.dual.y * r.w + x.dual.z * r.x));
+		
+		detail::tvec4<T> const c(
+			xz - wy,
+			yz + wx,
+			rr.w + rr.z - rr.x - rr.y,
+			-(x.dual.w * r.z + x.dual.x * r.y - x.dual.y * r.x - x.dual.z * r.w));
+		
+		return detail::tmat3x4<T>(a, b, c);
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> dualquat_cast
+	(
+		detail::tmat2x4<T> const & x
+	)
+	{
+		return detail::tdualquat<T>(
+			detail::tquat<T>( x[0].w, x[0].x, x[0].y, x[0].z ),
+			detail::tquat<T>( x[1].w, x[1].x, x[1].y, x[1].z ));
+	}
+
+	template <typename T>
+	GLM_FUNC_QUALIFIER detail::tdualquat<T> dualquat_cast
+	(
+		detail::tmat3x4<T> const & x
+	)
+	{
+		detail::tquat<T> real;
+		
+		T const trace = x[0].x + x[1].y + x[2].z;
+		if(trace > detail::tdualquat<T>::value_type(0))
+		{
+			T const r = sqrt(detail::tdualquat<T>::value_type(1) + trace);
+			T const invr = detail::tdualquat<T>::value_type(0.5) / r;
+			real.w = detail::tdualquat<T>::value_type(0.5) * r;
+			real.x = (x[2].y - x[1].z) * invr;
+			real.y = (x[0].z - x[2].x) * invr;
+			real.z = (x[1].x - x[0].y) * invr;
+		}
+		else if(x[0].x > x[1].y && x[0].x > x[2].z)
+		{
+			T const r = sqrt(detail::tdualquat<T>::value_type(1) + x[0].x - x[1].y - x[2].z);
+			T const invr = detail::tdualquat<T>::value_type(0.5) / r;
+			real.x = detail::tdualquat<T>::value_type(0.5)*r;
+			real.y = (x[1].x + x[0].y) * invr;
+			real.z = (x[0].z + x[2].x) * invr;
+			real.w = (x[2].y - x[1].z) * invr;
+		}
+		else if(x[1].y > x[2].z)
+		{
+			T const r = sqrt(T(1) + x[1].y - x[0].x - x[2].z);
+			T const invr = T(0.5) / r;
+			real.x = (x[1].x + x[0].y) * invr;
+			real.y = T(0.5) * r;
+			real.z = (x[2].y + x[1].z) * invr;
+			real.w = (x[0].z - x[2].x) * invr;
+		}
+		else
+		{
+			T const r = sqrt(T(1) + x[2].z - x[0].x - x[1].y);
+			T const invr = T(0.5) / r;
+			real.x = (x[0].z + x[2].x) * invr;
+			real.y = (x[2].y + x[1].z) * invr;
+			real.z = T(0.5) * r;
+			real.w = (x[1].x - x[0].y) * invr;
+		}
+		
+		detail::tquat<T> dual;
+		dual.x =  T(0.5) * ( x[0].w * real.w + x[1].w * real.z - x[2].w * real.y);
+		dual.y =  T(0.5) * (-x[0].w * real.z + x[1].w * real.w + x[2].w * real.x);
+		dual.z =  T(0.5) * ( x[0].w * real.y - x[1].w * real.x + x[2].w * real.w);
+		dual.w = -T(0.5) * ( x[0].w * real.x + x[1].w * real.y + x[2].w * real.z);
+		return detail::tdualquat<T>(real, dual);
+	}
 
 }//namespace glm