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    53. 

  53. <div class="title">quaternion.hpp</div>  </div>
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    55. 

  55. <div class="contents">
    56. 

  56. <a href="a00075.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 
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    93. 

  93. <a name="l00038"></a>00038 
    94. 

  94. <a name="l00039"></a>00039 <span class="preprocessor">#ifndef GLM_GTC_quaternion</span>
    95. 

  95. <a name="l00040"></a>00040 <span class="preprocessor"></span><span class="preprocessor">#define GLM_GTC_quaternion GLM_VERSION</span>
    96. 

  96. <a name="l00041"></a>00041 <span class="preprocessor"></span>
    97. 

  97. <a name="l00042"></a>00042 <span class="comment">// Dependency:</span>
    98. 

  98. <a name="l00043"></a>00043 <span class="preprocessor">#include &quot;../glm.hpp&quot;</span>
    99. 

  99. <a name="l00044"></a>00044 <span class="preprocessor">#include &quot;../gtc/half_float.hpp&quot;</span>
    100. 

  100. <a name="l00045"></a>00045 
    101. 

  101. <a name="l00046"></a>00046 <span class="preprocessor">#if(defined(GLM_MESSAGES) &amp;&amp; !defined(glm_ext))</span>
    102. 

  102. <a name="l00047"></a>00047 <span class="preprocessor"></span><span class="preprocessor">#       pragma message(&quot;GLM: GLM_GTC_quaternion extension included&quot;)</span>
    103. 

  103. <a name="l00048"></a>00048 <span class="preprocessor"></span><span class="preprocessor">#endif</span>
    104. 

  104. <a name="l00049"></a>00049 <span class="preprocessor"></span>
    105. 

  105. <a name="l00050"></a>00050 <span class="keyword">namespace </span>glm{
    106. 

  106. <a name="l00051"></a>00051 <span class="keyword">namespace </span>detail
    107. 

  107. <a name="l00052"></a>00052 {
    108. 

  108. <a name="l00056"></a>00056         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    109. 

  109. <a name="l00057"></a>00057         <span class="keyword">struct </span>tquat<span class="comment">// : public genType&lt;T, tquat&gt;</span>
    110. 

  110. <a name="l00058"></a>00058         {
    111. 

  111. <a name="l00059"></a>00059         <span class="keyword">enum</span> ctor{null};
    112. 

  112. <a name="l00060"></a>00060         
    113. 

  113. <a name="l00061"></a>00061         <span class="keyword">typedef</span> T value_type;
    114. 

  114. <a name="l00062"></a>00062         <span class="keyword">typedef</span> std::size_t size_type;
    115. 

  115. <a name="l00063"></a>00063 
    116. 

  116. <a name="l00064"></a>00064         <span class="keyword">public</span>:
    117. 

  117. <a name="l00065"></a>00065                 value_type x, y, z, w;
    118. 

  118. <a name="l00066"></a>00066         
    119. 

  119. <a name="l00067"></a>00067         GLM_FUNC_DECL size_type <a class="code" href="a00127.html#ga282360c8bb80b80d3c7f5bc00766d873" title="Returns the length of x, i.e., sqrt(x * x).">length</a>() <span class="keyword">const</span>;
    120. 

  120. <a name="l00068"></a>00068 
    121. 

  121. <a name="l00069"></a>00069                 <span class="comment">// Constructors</span>
    122. 

  122. <a name="l00070"></a>00070                 tquat();
    123. 

  123. <a name="l00071"></a>00071                 <span class="keyword">explicit</span> tquat(
    124. 

  124. <a name="l00072"></a>00072                         value_type <span class="keyword">const</span> &amp; s, 
    125. 

  125. <a name="l00073"></a>00073                         glm::detail::tvec3&lt;T&gt; <span class="keyword">const</span> &amp; v);
    126. 

  126. <a name="l00074"></a>00074                 <span class="keyword">explicit</span> tquat(
    127. 

  127. <a name="l00075"></a>00075                         value_type <span class="keyword">const</span> &amp; w, 
    128. 

  128. <a name="l00076"></a>00076                         value_type <span class="keyword">const</span> &amp; x, 
    129. 

  129. <a name="l00077"></a>00077                         value_type <span class="keyword">const</span> &amp; y, 
    130. 

  130. <a name="l00078"></a>00078                         value_type <span class="keyword">const</span> &amp; z);
    131. 

  131. <a name="l00079"></a>00079 
    132. 

  132. <a name="l00080"></a>00080                 <span class="comment">// Convertions</span>
    133. 

  133. <a name="l00081"></a>00081                 <span class="comment">//explicit tquat(valType const &amp; pitch, valType const &amp; yaw, valType const &amp; roll);</span>
    134. 

  134. <a name="l00083"></a>00083 <span class="comment"></span>                <span class="keyword">explicit</span> tquat(
    135. 

  135. <a name="l00084"></a>00084                         tvec3&lt;T&gt; <span class="keyword">const</span> &amp; eulerAngles);
    136. 

  136. <a name="l00085"></a>00085                 <span class="keyword">explicit</span> tquat(
    137. 

  137. <a name="l00086"></a>00086                         tmat3x3&lt;T&gt; <span class="keyword">const</span> &amp; m);
    138. 

  138. <a name="l00087"></a>00087                 <span class="keyword">explicit</span> tquat(
    139. 

  139. <a name="l00088"></a>00088                         tmat4x4&lt;T&gt; <span class="keyword">const</span> &amp; m);
    140. 

  140. <a name="l00089"></a>00089 
    141. 

  141. <a name="l00090"></a>00090                 <span class="comment">// Accesses</span>
    142. 

  142. <a name="l00091"></a>00091                 value_type &amp; operator[](<span class="keywordtype">int</span> i);
    143. 

  143. <a name="l00092"></a>00092                 value_type <span class="keyword">const</span> &amp; operator[](<span class="keywordtype">int</span> i) <span class="keyword">const</span>;
    144. 

  144. <a name="l00093"></a>00093 
    145. 

  145. <a name="l00094"></a>00094                 <span class="comment">// Operators</span>
    146. 

  146. <a name="l00095"></a>00095                 tquat&lt;T&gt; &amp; operator*=(value_type <span class="keyword">const</span> &amp; s);
    147. 

  147. <a name="l00096"></a>00096                 tquat&lt;T&gt; &amp; operator/=(value_type <span class="keyword">const</span> &amp; s);
    148. 

  148. <a name="l00097"></a>00097         };
    149. 

  149. <a name="l00098"></a>00098 
    150. 

  150. <a name="l00099"></a>00099         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    151. 

  151. <a name="l00100"></a>00100         detail::tquat&lt;T&gt; operator- (
    152. 

  152. <a name="l00101"></a>00101                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q);
    153. 

  153. <a name="l00102"></a>00102 
    154. 

  154. <a name="l00103"></a>00103         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    155. 

  155. <a name="l00104"></a>00104         detail::tquat&lt;T&gt; operator+ ( 
    156. 

  156. <a name="l00105"></a>00105                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q, 
    157. 

  157. <a name="l00106"></a>00106                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; p); 
    158. 

  158. <a name="l00107"></a>00107 
    159. 

  159. <a name="l00108"></a>00108         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    160. 

  160. <a name="l00109"></a>00109         detail::tquat&lt;T&gt; operator* ( 
    161. 

  161. <a name="l00110"></a>00110                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q, 
    162. 

  162. <a name="l00111"></a>00111                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; p); 
    163. 

  163. <a name="l00112"></a>00112 
    164. 

  164. <a name="l00113"></a>00113         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    165. 

  165. <a name="l00114"></a>00114         detail::tvec3&lt;T&gt; operator* (
    166. 

  166. <a name="l00115"></a>00115                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q, 
    167. 

  167. <a name="l00116"></a>00116                 detail::tvec3&lt;T&gt; <span class="keyword">const</span> &amp; v);
    168. 

  168. <a name="l00117"></a>00117 
    169. 

  169. <a name="l00118"></a>00118         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    170. 

  170. <a name="l00119"></a>00119         detail::tvec3&lt;T&gt; operator* (
    171. 

  171. <a name="l00120"></a>00120                 detail::tvec3&lt;T&gt; <span class="keyword">const</span> &amp; v,
    172. 

  172. <a name="l00121"></a>00121                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q);
    173. 

  173. <a name="l00122"></a>00122 
    174. 

  174. <a name="l00123"></a>00123         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    175. 

  175. <a name="l00124"></a>00124         detail::tvec4&lt;T&gt; operator* (
    176. 

  176. <a name="l00125"></a>00125                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q, 
    177. 

  177. <a name="l00126"></a>00126                 detail::tvec4&lt;T&gt; <span class="keyword">const</span> &amp; v);
    178. 

  178. <a name="l00127"></a>00127 
    179. 

  179. <a name="l00128"></a>00128         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    180. 

  180. <a name="l00129"></a>00129         detail::tvec4&lt;T&gt; operator* (
    181. 

  181. <a name="l00130"></a>00130                 detail::tvec4&lt;T&gt; <span class="keyword">const</span> &amp; v,
    182. 

  182. <a name="l00131"></a>00131                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q);
    183. 

  183. <a name="l00132"></a>00132 
    184. 

  184. <a name="l00133"></a>00133         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    185. 

  185. <a name="l00134"></a>00134         detail::tquat&lt;T&gt; operator* (
    186. 

  186. <a name="l00135"></a>00135                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q, 
    187. 

  187. <a name="l00136"></a>00136                 <span class="keyword">typename</span> detail::tquat&lt;T&gt;::value_type <span class="keyword">const</span> &amp; s);
    188. 

  188. <a name="l00137"></a>00137 
    189. 

  189. <a name="l00138"></a>00138         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    190. 

  190. <a name="l00139"></a>00139         detail::tquat&lt;T&gt; operator* (
    191. 

  191. <a name="l00140"></a>00140                 <span class="keyword">typename</span> detail::tquat&lt;T&gt;::value_type <span class="keyword">const</span> &amp; s,
    192. 

  192. <a name="l00141"></a>00141                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q);
    193. 

  193. <a name="l00142"></a>00142 
    194. 

  194. <a name="l00143"></a>00143         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    195. 

  195. <a name="l00144"></a>00144         detail::tquat&lt;T&gt; operator/ (
    196. 

  196. <a name="l00145"></a>00145                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q, 
    197. 

  197. <a name="l00146"></a>00146                 <span class="keyword">typename</span> detail::tquat&lt;T&gt;::value_type <span class="keyword">const</span> &amp; s);
    198. 

  198. <a name="l00147"></a>00147 
    199. 

  199. <a name="l00148"></a>00148 } <span class="comment">//namespace detail</span>
    200. 

  200. <a name="l00149"></a>00149 
    201. 

  201. <a name="l00152"></a>00152 
    202. 

  202. <a name="l00156"></a>00156     <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    203. 

  203. <a name="l00157"></a>00157     T <a class="code" href="a00127.html#ga282360c8bb80b80d3c7f5bc00766d873" title="Returns the length of x, i.e., sqrt(x * x).">length</a>(
    204. 

  204. <a name="l00158"></a>00158                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q);
    205. 

  205. <a name="l00159"></a>00159 
    206. 

  206. <a name="l00163"></a>00163         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    207. 

  207. <a name="l00164"></a>00164         detail::tquat&lt;T&gt; <a class="code" href="a00127.html#ga68b931c228750eeba844c273c54ca43d" title="Returns a vector in the same direction as x but with length of 1.">normalize</a>(
    208. 

  208. <a name="l00165"></a>00165                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q);
    209. 

  209. <a name="l00166"></a>00166                 
    210. 

  210. <a name="l00170"></a>00170         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    211. 

  211. <a name="l00171"></a>00171         T <a class="code" href="a00127.html#ga7a31d2864eccfe665409e3b44f5e6e8d" title="Returns the dot product of x and y, i.e., result = x * y.">dot</a>(
    212. 

  212. <a name="l00172"></a>00172                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q1, 
    213. 

  213. <a name="l00173"></a>00173                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q2);
    214. 

  214. <a name="l00174"></a>00174 
    215. 

  215. <a name="l00178"></a>00178         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    216. 

  216. <a name="l00179"></a>00179         detail::tquat&lt;T&gt; <a class="code" href="a00125.html#ga3f64b3986efe205cf30300700667e761">mix</a>(
    217. 

  217. <a name="l00180"></a>00180                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; x, 
    218. 

  218. <a name="l00181"></a>00181                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; y, 
    219. 

  219. <a name="l00182"></a>00182                 T <span class="keyword">const</span> &amp; a);
    220. 

  220. <a name="l00183"></a>00183                 
    221. 

  221. <a name="l00187"></a>00187     <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    222. 

  222. <a name="l00188"></a>00188         detail::tquat&lt;T&gt; conjugate(
    223. 

  223. <a name="l00189"></a>00189                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q);
    224. 

  224. <a name="l00190"></a>00190 
    225. 

  225. <a name="l00194"></a>00194     <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    226. 

  226. <a name="l00195"></a>00195         detail::tquat&lt;T&gt; <a class="code" href="a00129.html#gada3384a86cf38a1fd96275194b8ba8c0" title="Return the inverse of a mat2 matrix.">inverse</a>(
    227. 

  227. <a name="l00196"></a>00196                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q);
    228. 

  228. <a name="l00197"></a>00197 
    229. 

  229. <a name="l00201"></a>00201         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    230. 

  230. <a name="l00202"></a>00202         detail::tquat&lt;T&gt; rotate(
    231. 

  231. <a name="l00203"></a>00203                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; q, 
    232. 

  232. <a name="l00204"></a>00204                 <span class="keyword">typename</span> detail::tquat&lt;T&gt;::value_type <span class="keyword">const</span> &amp; angle, 
    233. 

  233. <a name="l00205"></a>00205                 detail::tvec3&lt;T&gt; <span class="keyword">const</span> &amp; v);
    234. 

  234. <a name="l00206"></a>00206 
    235. 

  235. <a name="l00210"></a>00210     <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    236. 

  236. <a name="l00211"></a>00211         detail::tmat3x3&lt;T&gt; mat3_cast(
    237. 

  237. <a name="l00212"></a>00212                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; x);
    238. 

  238. <a name="l00213"></a>00213 
    239. 

  239. <a name="l00217"></a>00217         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    240. 

  240. <a name="l00218"></a>00218         detail::tmat4x4&lt;T&gt; mat4_cast(
    241. 

  241. <a name="l00219"></a>00219                 detail::tquat&lt;T&gt; <span class="keyword">const</span> &amp; x);
    242. 

  242. <a name="l00220"></a>00220 
    243. 

  243. <a name="l00224"></a>00224         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    244. 

  244. <a name="l00225"></a>00225         detail::tquat&lt;T&gt; quat_cast(
    245. 

  245. <a name="l00226"></a>00226                 detail::tmat3x3&lt;T&gt; <span class="keyword">const</span> &amp; x);
    246. 

  246. <a name="l00227"></a>00227 
    247. 

  247. <a name="l00231"></a>00231         <span class="keyword">template</span> &lt;<span class="keyword">typename</span> T&gt; 
    248. 

  248. <a name="l00232"></a>00232         detail::tquat&lt;T&gt; quat_cast(
    249. 

  249. <a name="l00233"></a>00233                 detail::tmat4x4&lt;T&gt; <span class="keyword">const</span> &amp; x);
    250. 

  250. <a name="l00234"></a>00234 
    251. 

  251. <a name="l00238"></a>00238     <span class="keyword">typedef</span> detail::tquat&lt;float&gt; quat;
    252. 

  252. <a name="l00239"></a>00239 
    253. 

  253. <a name="l00243"></a>00243         <span class="keyword">typedef</span> detail::tquat&lt;detail::half&gt;     hquat;
    254. 

  254. <a name="l00244"></a>00244 
    255. 

  255. <a name="l00248"></a>00248         <span class="keyword">typedef</span> detail::tquat&lt;float&gt;    fquat;
    256. 

  256. <a name="l00249"></a>00249 
    257. 

  257. <a name="l00253"></a>00253         <span class="keyword">typedef</span> detail::tquat&lt;double&gt;   dquat;
    258. 

  258. <a name="l00254"></a>00254 
    259. 

  259. <a name="l00258"></a>00258         <span class="keyword">typedef</span> detail::tquat&lt;lowp_float&gt;               lowp_quat;
    260. 

  260. <a name="l00259"></a>00259 
    261. 

  261. <a name="l00263"></a>00263         <span class="keyword">typedef</span> detail::tquat&lt;mediump_float&gt;    mediump_quat;
    262. 

  262. <a name="l00264"></a>00264 
    263. 

  263. <a name="l00268"></a>00268         <span class="keyword">typedef</span> detail::tquat&lt;highp_float&gt;              highp_quat;
    264. 

  264. <a name="l00269"></a>00269 
    265. 

  265. <a name="l00271"></a>00271 } <span class="comment">//namespace glm</span>
    266. 

  266. <a name="l00272"></a>00272 
    267. 

  267. <a name="l00273"></a>00273 <span class="preprocessor">#include &quot;quaternion.inl&quot;</span>
    268. 

  268. <a name="l00274"></a>00274 
    269. 

  269. <a name="l00275"></a>00275 <span class="preprocessor">#endif//GLM_GTC_quaternion</span>
    270. 

  270. </pre></div></div><!-- contents -->
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