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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 : 2005-12-21</span>
<a name="l00005"></a>00005 <span class="comment">// Updated : 2009-05-21</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/gtx/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_gtx_quaternion</span>
<a name="l00018"></a>00018 <span class="preprocessor"></span><span class="preprocessor">#define glm_gtx_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 <span class="preprocessor">#include &quot;../gtc/quaternion.hpp&quot;</span>
<a name="l00023"></a>00023 
<a name="l00024"></a>00024 <span class="keyword">namespace </span>glm
<a name="l00025"></a>00025 {
<a name="l00026"></a>00026         <span class="keyword">namespace </span>gtx{
<a name="l00028"></a><a class="code" href="a00197.html">00028</a>     <span class="keyword">namespace </span>quaternion
<a name="l00029"></a>00029     {
<a name="l00030"></a>00030                 <span class="keyword">using namespace </span>gtc::quaternion;
<a name="l00031"></a>00031 
<a name="l00034"></a>00034                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00035"></a>00035                 detail::tvec3&lt;valType&gt; <a class="code" href="a00197.html#a2a222a07e879ab25de36d6b5a8f6610d" title="Compute a cross product between a quaternion and a vector.">cross</a>(
<a name="l00036"></a>00036                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q, 
<a name="l00037"></a>00037                         detail::tvec3&lt;valType&gt; <span class="keyword">const</span> &amp; v);
<a name="l00038"></a>00038 
<a name="l00041"></a>00041                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00042"></a>00042                 detail::tvec3&lt;valType&gt; <a class="code" href="a00197.html#a2a222a07e879ab25de36d6b5a8f6610d" title="Compute a cross product between a quaternion and a vector.">cross</a>(
<a name="l00043"></a>00043                         detail::tvec3&lt;valType&gt; <span class="keyword">const</span> &amp; v, 
<a name="l00044"></a>00044                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<a name="l00045"></a>00045 
<a name="l00049"></a>00049                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00050"></a>00050                 detail::tquat&lt;valType&gt; <a class="code" href="a00197.html#a203b736245b7519eb151ac46e0bf7f21" title="Compute a point on a path according squad equation.">squad</a>(
<a name="l00051"></a>00051                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q1, 
<a name="l00052"></a>00052                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q2, 
<a name="l00053"></a>00053                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; s1, 
<a name="l00054"></a>00054                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; s2, 
<a name="l00055"></a>00055                         valType <span class="keyword">const</span> &amp; h);
<a name="l00056"></a>00056 
<a name="l00059"></a>00059                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00060"></a>00060                 detail::tquat&lt;valType&gt; <a class="code" href="a00197.html#aa15c443e97ac7476d04627d868995891" title="Returns an intermediate control point for squad interpolation.">intermediate</a>(
<a name="l00061"></a>00061                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; prev, 
<a name="l00062"></a>00062                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; curr, 
<a name="l00063"></a>00063                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; next);
<a name="l00064"></a>00064 
<a name="l00067"></a>00067         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00068"></a>00068                 detail::tquat&lt;valType&gt; <a class="code" href="a00197.html#aed2302270ec468d26de745516ccb5d4b" title="Returns a exp of a quaternion.">exp</a>(
<a name="l00069"></a>00069                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q, 
<a name="l00070"></a>00070                         valType <span class="keyword">const</span> &amp; exponent);
<a name="l00071"></a>00071 
<a name="l00074"></a>00074         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00075"></a>00075                 detail::tquat&lt;valType&gt; <a class="code" href="a00197.html#a11af1897310ec8a09210fb7b4deb0027" title="Returns a log of a quaternion.">log</a>(
<a name="l00076"></a>00076                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<a name="l00077"></a>00077 
<a name="l00080"></a>00080         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00081"></a>00081                 detail::tquat&lt;valType&gt; <a class="code" href="a00197.html#a42873121534327c9e5238f3ca3d6cd03" title="Returns x raised to the y power.">pow</a>(
<a name="l00082"></a>00082                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x, 
<a name="l00083"></a>00083                         valType <span class="keyword">const</span> &amp; y);
<a name="l00084"></a>00084 
<a name="l00087"></a>00087                 <span class="comment">//template &lt;typename valType&gt; </span>
<a name="l00088"></a>00088                 <span class="comment">//detail::tquat&lt;valType&gt; sqrt(</span>
<a name="l00089"></a>00089                 <span class="comment">//      detail::tquat&lt;valType&gt; const &amp; q);</span>
<a name="l00090"></a>00090 
<a name="l00093"></a>00093                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00094"></a>00094                 detail::tvec3&lt;valType&gt; <a class="code" href="a00197.html#a7f163c787898b76dc1d91eb48523ce87" title="Returns quarternion square root.">rotate</a>(
<a name="l00095"></a>00095                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q, 
<a name="l00096"></a>00096                         detail::tvec3&lt;valType&gt; <span class="keyword">const</span> &amp; v);
<a name="l00097"></a>00097 
<a name="l00100"></a>00100                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00101"></a>00101                 detail::tvec4&lt;valType&gt; <a class="code" href="a00197.html#a7f163c787898b76dc1d91eb48523ce87" title="Returns quarternion square root.">rotate</a>(
<a name="l00102"></a>00102                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q, 
<a name="l00103"></a>00103                         detail::tvec4&lt;valType&gt; <span class="keyword">const</span> &amp; v);
<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="a00197.html#a6a3387a7d60728f60d86546b2f4d4d30" title="Returns the q rotation angle.">angle</a>(
<a name="l00109"></a>00109                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x);
<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::tvec3&lt;valType&gt; <a class="code" href="a00197.html#a6dd1904e2a6cc8e54bd324994094a6f9" title="Returns the q rotation axis.">axis</a>(
<a name="l00115"></a>00115                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x);
<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                 detail::tquat&lt;valType&gt; <a class="code" href="a00197.html#a4412b01c376d9cfc9cc06b2d511d0f16" title="Build a quaternion from an angle and an axis.">angleAxis</a>(
<a name="l00121"></a>00121                         valType <span class="keyword">const</span> &amp; angle, 
<a name="l00122"></a>00122                         valType <span class="keyword">const</span> &amp; x, 
<a name="l00123"></a>00123                         valType <span class="keyword">const</span> &amp; y, 
<a name="l00124"></a>00124                         valType <span class="keyword">const</span> &amp; z);
<a name="l00125"></a>00125 
<a name="l00128"></a>00128                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00129"></a>00129                 detail::tquat&lt;valType&gt; <a class="code" href="a00197.html#a4412b01c376d9cfc9cc06b2d511d0f16" title="Build a quaternion from an angle and an axis.">angleAxis</a>(
<a name="l00130"></a>00130                         valType <span class="keyword">const</span> &amp; angle, 
<a name="l00131"></a>00131                         detail::tvec3&lt;valType&gt; <span class="keyword">const</span> &amp; v);
<a name="l00132"></a>00132 
<a name="l00135"></a>00135                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00136"></a>00136                 valType <a class="code" href="a00197.html#a23eb8e1aeaf751f7cc46fbaa291e223d" title="Extract the real component of a quaternion.">extractRealComponent</a>(
<a name="l00137"></a>00137                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; q);
<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                 valType <a class="code" href="a00197.html#a60a4f955b2836d85f3d21ded84879926" title="Returns roll value of euler angles.">roll</a>(
<a name="l00143"></a>00143                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x);
<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                 valType <a class="code" href="a00197.html#afad23e37f1723bbbbd7f9498cd729126" title="Returns pitch value of euler angles.">pitch</a>(
<a name="l00149"></a>00149                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x);
<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                 valType <a class="code" href="a00197.html#a4795f1cc522d82d672f7be9a405583c4" title="Returns yaw value of euler angles.">yaw</a>(
<a name="l00155"></a>00155                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x);
<a name="l00156"></a>00156                 
<a name="l00159"></a>00159                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00160"></a>00160                 detail::tvec3&lt;valType&gt; <a class="code" href="a00197.html#a49d24e9d018f400ee11176b7e9433384" title="Returns euler angles, yitch as x, yaw as y, roll as z.">eularAngles</a>(
<a name="l00161"></a>00161                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x);
<a name="l00162"></a>00162 
<a name="l00165"></a>00165         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00166"></a><a class="code" href="a00197.html#a61ec971322157330116a3aefe5bae609">00166</a>                 detail::tmat3x3&lt;valType&gt; <a class="code" href="a00197.html#a61ec971322157330116a3aefe5bae609" title="Converts a quaternion to a 3 * 3 matrix.">toMat3</a>(
<a name="l00167"></a>00167                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x){<span class="keywordflow">return</span> <a class="code" href="a00148.html#a3f6d3a2eec09de0c3d191a6b5235a744" title="Converts a quaternion to a 3 * 3 matrix.">gtc::quaternion::mat3_cast</a>(x);}
<a name="l00168"></a>00168 
<a name="l00171"></a>00171                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00172"></a><a class="code" href="a00197.html#a80622343bd7ccf43c9b4cb677ba3ce38">00172</a>                 detail::tmat4x4&lt;valType&gt; <a class="code" href="a00197.html#a80622343bd7ccf43c9b4cb677ba3ce38" title="Converts a quaternion to a 4 * 4 matrix.">toMat4</a>(
<a name="l00173"></a>00173                         detail::tquat&lt;valType&gt; <span class="keyword">const</span> &amp; x){<span class="keywordflow">return</span> <a class="code" href="a00148.html#a09599c3024ab423b26d4c1b440893cb8" title="Converts a quaternion to a 4 * 4 matrix.">gtc::quaternion::mat4_cast</a>(x);}
<a name="l00174"></a>00174 
<a name="l00177"></a>00177                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00178"></a><a class="code" href="a00197.html#a991e534718ab690ff21e201f27bfd43b">00178</a>                 detail::tquat&lt;valType&gt; <a class="code" href="a00197.html#a991e534718ab690ff21e201f27bfd43b" title="Converts a 3 * 3 matrix to a quaternion.">toQuat</a>(
<a name="l00179"></a>00179                         detail::tmat3x3&lt;valType&gt; <span class="keyword">const</span> &amp; x){<span class="keywordflow">return</span> <a class="code" href="a00148.html#a619b445502abad1cc98207919116e7fd" title="Converts a 3 * 3 matrix to a quaternion.">gtc::quaternion::quat_cast</a>(x);}
<a name="l00180"></a>00180 
<a name="l00183"></a>00183                 <span class="keyword">template</span> &lt;<span class="keyword">typename</span> valType&gt; 
<a name="l00184"></a><a class="code" href="a00197.html#a2d9d1916258d13bd5f0373341400f18c">00184</a>                 detail::tquat&lt;valType&gt; <a class="code" href="a00197.html#a991e534718ab690ff21e201f27bfd43b" title="Converts a 3 * 3 matrix to a quaternion.">toQuat</a>(
<a name="l00185"></a>00185                         detail::tmat4x4&lt;valType&gt; <span class="keyword">const</span> &amp; x){<span class="keywordflow">return</span> <a class="code" href="a00148.html#a619b445502abad1cc98207919116e7fd" title="Converts a 3 * 3 matrix to a quaternion.">gtc::quaternion::quat_cast</a>(x);}
<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 gtx</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_GTX_quaternion namespace gtx::quaternion</span>
<a name="l00192"></a>00192 <span class="preprocessor"></span><span class="preprocessor">#ifndef GLM_GTX_GLOBAL</span>
<a name="l00193"></a>00193 <span class="preprocessor"></span><span class="keyword">namespace </span>glm {<span class="keyword">using</span> GLM_GTX_quaternion;}
<a name="l00194"></a>00194 <span class="preprocessor">#endif//GLM_GTX_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_gtx_quaternion</span>
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