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<h1>quaternion.hpp</h1><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
<a name="l00002"></a>00002 <span class="comment">// OpenGL Mathematics Copyright (c) 2005 - 2009 G-Truc Creation (www.g-truc.net)</span>
<a name="l00004"></a>00004 <span class="comment"></span><span class="comment">// Created : 2009-05-21</span>
<a name="l00005"></a>00005 <span class="comment">// Updated : 2009-06-04</span>
<a name="l00006"></a>00006 <span class="comment">// Licence : This source is under MIT License</span>
<a name="l00007"></a>00007 <span class="comment">// File    : glm/gtc/quaternion.hpp</span>
<a name="l00009"></a>00009 <span class="comment"></span><span class="comment">// Dependency:</span>
<a name="l00010"></a>00010 <span class="comment">// - GLM core</span>
<a name="l00012"></a>00012 <span class="comment"></span><span class="comment">// ToDo:</span>
<a name="l00013"></a>00013 <span class="comment">// - Study constructors with angles and axis</span>
<a name="l00014"></a>00014 <span class="comment">// - Study constructors with vec3 that are the imaginary component of quaternion</span>
<a name="l00016"></a>00016 <span class="comment"></span>
<a name="l00017"></a>00017 <span class="preprocessor">#ifndef glm_gtc_quaternion</span>
<a name="l00018"></a>00018 <span class="preprocessor"></span><span class="preprocessor">#define glm_gtc_quaternion</span>
<a name="l00019"></a>00019 <span class="preprocessor"></span>
<a name="l00020"></a>00020 <span class="comment">// Dependency:</span>
<a name="l00021"></a>00021 <span class="preprocessor">#include &quot;../glm.hpp&quot;</span>
<a name="l00022"></a>00022 
<a name="l00023"></a>00023 <span class="keyword">namespace </span>glm
<a name="l00024"></a>00024 {
<a name="l00025"></a>00025         <span class="keyword">namespace </span>test{
<a name="l00026"></a>00026                 <span class="keywordtype">bool</span> main_gtc_quaternion();
<a name="l00027"></a>00027         }<span class="comment">//namespace test</span>
<a name="l00028"></a>00028 
<a name="l00029"></a>00029         <span class="keyword">namespace </span>detail
<a name="l00030"></a>00030         {
<a name="l00033"></a>00033                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00034"></a>00034                 <span class="keyword">class </span>tquat
<a name="l00035"></a>00035                 {
<a name="l00036"></a>00036                 <span class="keyword">public</span>:
<a name="l00037"></a>00037                         valType x, y, z, w;
<a name="l00038"></a>00038 
<a name="l00039"></a>00039                         <span class="comment">// Constructors</span>
<a name="l00040"></a>00040                         tquat();
<a name="l00041"></a>00041                         <span class="keyword">explicit</span> tquat(valType <span class="keyword">const</span> &amp; s, tvec3&lt;valType&gt; <span class="keyword">const</span> &amp; v);
<a name="l00042"></a>00042                         <span class="keyword">explicit</span> tquat(valType <span class="keyword">const</span> &amp; w, valType <span class="keyword">const</span> &amp; x, valType <span class="keyword">const</span> &amp; y, valType <span class="keyword">const</span> &amp; z);
<a name="l00043"></a>00043 
<a name="l00044"></a>00044                         <span class="comment">// Convertions</span>
<a name="l00045"></a>00045                         <span class="comment">//explicit tquat(valType const &amp; pitch, valType const &amp; yaw, valType const &amp; roll);</span>
<a name="l00047"></a>00047 <span class="comment"></span>                        <span class="keyword">explicit</span> tquat(tvec3&lt;valType&gt; <span class="keyword">const</span> &amp; eulerAngles);
<a name="l00048"></a>00048                         <span class="keyword">explicit</span> tquat(tmat3x3&lt;valType&gt; <span class="keyword">const</span> &amp; m);
<a name="l00049"></a>00049                         <span class="keyword">explicit</span> tquat(tmat4x4&lt;valType&gt; <span class="keyword">const</span> &amp; m);
<a name="l00050"></a>00050 
<a name="l00051"></a>00051                         <span class="comment">// Accesses</span>
<a name="l00052"></a>00052                         valType&amp; operator[](<span class="keywordtype">int</span> i);
<a name="l00053"></a>00053                         valType operator[](<span class="keywordtype">int</span> i) <span class="keyword">const</span>;
<a name="l00054"></a>00054 
<a name="l00055"></a>00055                         <span class="comment">// Operators</span>
<a name="l00056"></a>00056                         tquat&lt;valType&gt;&amp; operator*=(valType <span class="keyword">const</span> &amp; s);
<a name="l00057"></a>00057                         tquat&lt;valType&gt;&amp; operator/=(valType <span class="keyword">const</span> &amp; s);
<a name="l00058"></a>00058                 };
<a name="l00059"></a>00059 
<a name="l00060"></a>00060                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00061"></a>00061                 detail::tquat&lt;valType&gt; operator- (
<a name="l00062"></a>00062                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<a name="l00063"></a>00063 
<a name="l00064"></a>00064                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00065"></a>00065                 detail::tvec3&lt;valType&gt; operator* (
<a name="l00066"></a>00066                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q, 
<a name="l00067"></a>00067                         detail::tvec3&lt;valType&gt; <span class="keyword">const</span> &amp; v);
<a name="l00068"></a>00068 
<a name="l00069"></a>00069                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00070"></a>00070                 detail::tvec3&lt;valType&gt; operator* (
<a name="l00071"></a>00071                         detail::tvec3&lt;valType&gt; <span class="keyword">const</span> &amp; v,
<a name="l00072"></a>00072                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<a name="l00073"></a>00073 
<a name="l00074"></a>00074                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00075"></a>00075                 detail::tvec4&lt;valType&gt; operator* (
<a name="l00076"></a>00076                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q, 
<a name="l00077"></a>00077                         detail::tvec4&lt;valType&gt; <span class="keyword">const</span> &amp; v);
<a name="l00078"></a>00078 
<a name="l00079"></a>00079                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00080"></a>00080                 detail::tvec4&lt;valType&gt; operator* (
<a name="l00081"></a>00081                         detail::tvec4&lt;valType&gt; <span class="keyword">const</span> &amp; v,
<a name="l00082"></a>00082                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<a name="l00083"></a>00083 
<a name="l00084"></a>00084                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00085"></a>00085                 detail::tquat&lt;valType&gt; operator* (
<a name="l00086"></a>00086                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q, 
<a name="l00087"></a>00087                         valType <span class="keyword">const</span> &amp; s);
<a name="l00088"></a>00088 
<a name="l00089"></a>00089                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00090"></a>00090                 detail::tquat&lt;valType&gt; operator* (
<a name="l00091"></a>00091                         valType <span class="keyword">const</span> &amp; s,
<a name="l00092"></a>00092                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<a name="l00093"></a>00093 
<a name="l00094"></a>00094                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00095"></a>00095                 detail::tquat&lt;valType&gt; operator/ (
<a name="l00096"></a>00096                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q, 
<a name="l00097"></a>00097                         valType <span class="keyword">const</span> &amp; s);
<a name="l00098"></a>00098 
<a name="l00099"></a>00099         } <span class="comment">//namespace detail</span>
<a name="l00100"></a>00100 
<a name="l00101"></a>00101         <span class="keyword">namespace </span>gtc{
<a name="l00103"></a><a class="code" href="a00148.html">00103</a>     <span class="keyword">namespace </span>quaternion
<a name="l00104"></a>00104     {
<a name="l00107"></a>00107         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00108"></a>00108                 valType <a class="code" href="a00148.html#ab5b9ba59887e95689e75a578debed0c3" title="Returns the length of the quaternion x.">length</a>(
<a name="l00109"></a>00109                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<a name="l00110"></a>00110 
<a name="l00113"></a>00113                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00114"></a>00114                 detail::tquat&lt;valType&gt; <a class="code" href="a00148.html#ad0ae9c01fe65d0e739178f67cab4e2bc" title="Returns the normalized quaternion of from x.">normalize</a>(
<a name="l00115"></a>00115                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<a name="l00116"></a>00116                 
<a name="l00119"></a>00119                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00120"></a>00120                 valType <a class="code" href="a00148.html#ad4495643e2d2da6b1a82c4e545356c13" title="Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + .">dot</a>(
<a name="l00121"></a>00121                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q1, 
<a name="l00122"></a>00122                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q2);
<a name="l00123"></a>00123 
<a name="l00126"></a>00126                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00127"></a>00127                 detail::tquat&lt;valType&gt; <a class="code" href="a00148.html#a34ad81954b70e0b945f465ba48d95b02" title="Returns the cross product of q1 and q2.">cross</a>(
<a name="l00128"></a>00128                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q1, 
<a name="l00129"></a>00129                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q2);
<a name="l00130"></a>00130                 
<a name="l00133"></a>00133                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00134"></a>00134                 detail::tquat&lt;valType&gt; <a class="code" href="a00148.html#a776318ba7199fdef77b40b54528ef3f0" title="Returns a LERP interpolated quaternion of x and y according a.">mix</a>(
<a name="l00135"></a>00135                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x, 
<a name="l00136"></a>00136                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; y, 
<a name="l00137"></a>00137                         valType <span class="keyword">const</span> &amp; a);
<a name="l00138"></a>00138                 
<a name="l00141"></a>00141         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00142"></a>00142                 detail::tquat&lt;valType&gt; <a class="code" href="a00148.html#aef383347c7c121fb498bf98c9f3cd773" title="Returns the q conjugate.">conjugate</a>(
<a name="l00143"></a>00143                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<a name="l00144"></a>00144 
<a name="l00147"></a>00147         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00148"></a>00148                 detail::tquat&lt;valType&gt; <a class="code" href="a00148.html#ad5838ef9535da0aab26e4c556bd5eab2" title="Returns the q inverse.">inverse</a>(
<a name="l00149"></a>00149                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<a name="l00150"></a>00150 
<a name="l00153"></a>00153                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00154"></a>00154                 detail::tquat&lt;valType&gt; <a class="code" href="a00148.html#af35cd64eff7074f1a6706f80c4060e6a" title="Rotates a quaternion from an vector of 3 components axis and an angle expressed in...">rotate</a>(
<a name="l00155"></a>00155                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q, 
<a name="l00156"></a>00156                         valType <span class="keyword">const</span> &amp; angle, 
<a name="l00157"></a>00157                         detail::tvec3&lt;valType&gt; <span class="keyword">const</span> &amp; v);
<a name="l00158"></a>00158 
<a name="l00161"></a>00161         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00162"></a>00162                 detail::tmat3x3&lt;valType&gt; <a class="code" href="a00148.html#a3f6d3a2eec09de0c3d191a6b5235a744" title="Converts a quaternion to a 3 * 3 matrix.">mat3_cast</a>(
<a name="l00163"></a>00163                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x);
<a name="l00164"></a>00164 
<a name="l00167"></a>00167                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00168"></a>00168                 detail::tmat4x4&lt;valType&gt; <a class="code" href="a00148.html#a09599c3024ab423b26d4c1b440893cb8" title="Converts a quaternion to a 4 * 4 matrix.">mat4_cast</a>(
<a name="l00169"></a>00169                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x);
<a name="l00170"></a>00170 
<a name="l00173"></a>00173                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00174"></a>00174                 detail::tquat&lt;valType&gt; <a class="code" href="a00148.html#a619b445502abad1cc98207919116e7fd" title="Converts a 3 * 3 matrix to a quaternion.">quat_cast</a>(
<a name="l00175"></a>00175                         detail::tmat3x3&lt;valType&gt; <span class="keyword">const</span> &amp; x);
<a name="l00176"></a>00176 
<a name="l00179"></a>00179                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00180"></a>00180                 detail::tquat&lt;valType&gt; <a class="code" href="a00148.html#a619b445502abad1cc98207919116e7fd" title="Converts a 3 * 3 matrix to a quaternion.">quat_cast</a>(
<a name="l00181"></a>00181                         detail::tmat4x4&lt;valType&gt; <span class="keyword">const</span> &amp; x);
<a name="l00182"></a>00182 
<a name="l00185"></a><a class="code" href="a00148.html#a60408579db470456070a3336295625a7">00185</a>         <span class="keyword">typedef</span> detail::tquat&lt;float&gt; <a class="code" href="a00148.html#a60408579db470456070a3336295625a7" title="Quaternion of floating-point numbers.">quat</a>;
<a name="l00186"></a>00186 
<a name="l00187"></a>00187     }<span class="comment">//namespace quaternion</span>
<a name="l00188"></a>00188     }<span class="comment">//namespace gtc</span>
<a name="l00189"></a>00189 } <span class="comment">//namespace glm</span>
<a name="l00190"></a>00190 
<a name="l00191"></a>00191 <span class="preprocessor">#define GLM_GTC_quaternion namespace gtc::quaternion</span>
<a name="l00192"></a>00192 <span class="preprocessor"></span><span class="preprocessor">#ifndef GLM_GTC_GLOBAL</span>
<a name="l00193"></a>00193 <span class="preprocessor"></span><span class="keyword">namespace </span>glm {<span class="keyword">using</span> GLM_GTC_quaternion;}
<a name="l00194"></a>00194 <span class="preprocessor">#endif//GLM_GTC_GLOBAL</span>
<a name="l00195"></a>00195 <span class="preprocessor"></span>
<a name="l00196"></a>00196 <span class="preprocessor">#include &quot;quaternion.inl&quot;</span>
<a name="l00197"></a>00197 
<a name="l00198"></a>00198 <span class="preprocessor">#endif//glm_gtc_quaternion</span>
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