glm/glm/gtc/quaternion.hpp

///////////////////////////////////////////////////////////////////////////////////
/// OpenGL Mathematics (glm.g-truc.net)
///
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/// @ref gtc_quaternion
/// @file glm/gtc/quaternion.hpp
/// @date 2009-05-21 / 2011-06-05
/// @author Christophe Riccio
///
/// @see core (dependence)
/// @see gtc_half_float (dependence)
/// 
/// @defgroup gtc_quaternion GLM_GTC_quaternion: Quaternion types and functions
/// @ingroup gtc
/// 
/// @brief Defines a templated quaternion type and several quaternion operations.
/// 
/// <glm/gtc/quaternion.hpp> need to be included to use these functionalities.
///////////////////////////////////////////////////////////////////////////////////

#ifndef GLM_GTC_quaternion
#define GLM_GTC_quaternion 90

// Dependency:
#include "../glm.hpp"
#include "../gtc/half_float.hpp"

#if(defined(GLM_MESSAGES) && !defined(glm_ext))
#	pragma message("GLM: GLM_GTC_quaternion extension included")
#endif

namespace glm{
namespace detail
{
	/// @brief Template for quaternion. 
	/// From GLM_GTC_quaternion extension.
	/// @ingroup gtc_quaternion
	template <typename T> 
	struct tquat// : public genType<T, tquat>
	{
        enum ctor{null};
        
        typedef T value_type;
        typedef std::size_t size_type;

	public:
		value_type x, y, z, w;
        
        GLM_FUNC_DECL size_type length() const;

		// Constructors
		tquat();
		explicit tquat(
			value_type const & s, 
			glm::detail::tvec3<T> const & v);
		explicit tquat(
			value_type const & w, 
			value_type const & x, 
			value_type const & y, 
			value_type const & z);

		// Convertions
		//explicit tquat(valType const & pitch, valType const & yaw, valType const & roll);
		//! pitch, yaw, roll
		explicit tquat(
			tvec3<T> const & eulerAngles);
		explicit tquat(
			tmat3x3<T> const & m);
		explicit tquat(
			tmat4x4<T> const & m);

		// Accesses
		value_type & operator[](int i);
		value_type const & operator[](int i) const;

		// Operators
		tquat<T> & operator*=(value_type const & s);
		tquat<T> & operator/=(value_type const & s);
	};

	template <typename T> 
	detail::tquat<T> operator- (
		detail::tquat<T> const & q);

	template <typename T> 
	detail::tquat<T> operator+ ( 
		detail::tquat<T> const & q, 
		detail::tquat<T> const & p); 

	template <typename T> 
	detail::tquat<T> operator* ( 
		detail::tquat<T> const & q, 
		detail::tquat<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::tquat<T> operator* (
		detail::tquat<T> const & q, 
		typename detail::tquat<T>::value_type const & s);

	template <typename T> 
	detail::tquat<T> operator* (
		typename detail::tquat<T>::value_type const & s,
		detail::tquat<T> const & q);

	template <typename T> 
	detail::tquat<T> operator/ (
		detail::tquat<T> const & q, 
		typename detail::tquat<T>::value_type const & s);

} //namespace detail

	/// @addtogroup gtc_quaternion
	/// @{

	//! Returns the length of the quaternion. 
	//! From GLM_GTC_quaternion extension.
    template <typename T> 
    T length(
		detail::tquat<T> const & q);

    //! Returns the normalized quaternion. 
	//! From GLM_GTC_quaternion extension.
	template <typename T> 
	detail::tquat<T> normalize(
		detail::tquat<T> const & q);
		
    //! Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ... 
	//! From GLM_GTC_quaternion extension.
	template <typename T> 
	T dot(
		detail::tquat<T> const & q1, 
		detail::tquat<T> const & q2);

	//! Returns a SLERP interpolated quaternion of x and y according a. 
	//! From GLM_GTC_quaternion extension.
	template <typename T> 
	detail::tquat<T> mix(
		detail::tquat<T> const & x, 
		detail::tquat<T> const & y, 
		T const & a);
		
	//! Returns the q conjugate. 
	//! From GLM_GTC_quaternion extension.
    template <typename T> 
	detail::tquat<T> conjugate(
		detail::tquat<T> const & q);

	//! Returns the q inverse. 
	//! From GLM_GTC_quaternion extension.
    template <typename T> 
	detail::tquat<T> inverse(
		detail::tquat<T> const & q);

	//! Rotates a quaternion from an vector of 3 components axis and an angle expressed in degrees.
	//! From GLM_GTC_quaternion extension.
	template <typename T> 
	detail::tquat<T> rotate(
		detail::tquat<T> const & q, 
		typename detail::tquat<T>::value_type const & angle, 
		detail::tvec3<T> const & v);

	//! Converts a quaternion to a 3 * 3 matrix. 
	//! From GLM_GTC_quaternion extension.
    template <typename T> 
	detail::tmat3x3<T> mat3_cast(
		detail::tquat<T> const & x);

	//! Converts a quaternion to a 4 * 4 matrix. 
	//! From GLM_GTC_quaternion extension.
	template <typename T> 
	detail::tmat4x4<T> mat4_cast(
		detail::tquat<T> const & x);

	//! Converts a 3 * 3 matrix to a quaternion. 
	//! From GLM_GTC_quaternion extension.
	template <typename T> 
	detail::tquat<T> quat_cast(
		detail::tmat3x3<T> const & x);

	//! Converts a 4 * 4 matrix to a quaternion. 
	//! From GLM_GTC_quaternion extension.
	template <typename T> 
	detail::tquat<T> quat_cast(
		detail::tmat4x4<T> const & x);

	//! Quaternion of floating-point numbers. 
	//! From GLM_GTC_quaternion extension.
    typedef detail::tquat<float> quat;

	//! Quaternion of half-precision floating-point numbers.
	//! From GLM_GTC_quaternion extension.
	typedef detail::tquat<detail::thalf>	hquat;

	//! Quaternion of single-precision floating-point numbers. 
	//! From GLM_GTC_quaternion extension.
	typedef detail::tquat<float>	fquat;

	//! Quaternion of double-precision floating-point numbers. 
	//! From GLM_GTC_quaternion extension.
	typedef detail::tquat<double>	dquat;

	//! Quaternion of low precision floating-point numbers.
	//! From GLM_GTC_quaternion extension.
	typedef detail::tquat<lowp_float>		lowp_quat;

	//! Quaternion of medium precision floating-point numbers. 
	//! From GLM_GTC_quaternion extension.
	typedef detail::tquat<mediump_float>	mediump_quat;

	//! Quaternion of high precision floating-point numbers. 
	//! From GLM_GTC_quaternion extension.
	typedef detail::tquat<highp_float>		highp_quat;
    
	/// @}
} //namespace glm

#include "quaternion.inl"

#endif//GLM_GTC_quaternion