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gtx/quaternion.hpp
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1
14 #pragma once
15
16 // Dependency:
17 #include "../glm.hpp"
18 #include "../gtc/constants.hpp"
19 #include "../gtc/quaternion.hpp"
20 #include "../gtx/norm.hpp"
21
22 #ifndef GLM_ENABLE_EXPERIMENTAL
23 # error "GLM: GLM_GTX_quaternion is an experimental extension and may change in the future. Use #define GLM_ENABLE_EXPERIMENTAL before including it, if you really want to use it."
24 #endif
25
26 #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
27 # pragma message("GLM: GLM_GTX_quaternion extension included")
28 #endif
29
30 namespace glm
31 {
34
38 template<typename T, qualifier Q>
39 GLM_FUNC_DECL tquat<T, Q> quat_identity();
40
44 template<typename T, qualifier Q>
45 GLM_FUNC_DECL vec<3, T, Q> cross(
46 tquat<T, Q> const& q,
47 vec<3, T, Q> const& v);
48
52 template<typename T, qualifier Q>
53 GLM_FUNC_DECL vec<3, T, Q> cross(
54 vec<3, T, Q> const& v,
55 tquat<T, Q> const& q);
56
61 template<typename T, qualifier Q>
62 GLM_FUNC_DECL tquat<T, Q> squad(
63 tquat<T, Q> const& q1,
64 tquat<T, Q> const& q2,
65 tquat<T, Q> const& s1,
66 tquat<T, Q> const& s2,
67 T const& h);
68
72 template<typename T, qualifier Q>
73 GLM_FUNC_DECL tquat<T, Q> intermediate(
74 tquat<T, Q> const& prev,
75 tquat<T, Q> const& curr,
76 tquat<T, Q> const& next);
77
81 template<typename T, qualifier Q>
82 GLM_FUNC_DECL tquat<T, Q> exp(
83 tquat<T, Q> const& q);
84
88 template<typename T, qualifier Q>
89 GLM_FUNC_DECL tquat<T, Q> log(
90 tquat<T, Q> const& q);
91
95 template<typename T, qualifier Q>
96 GLM_FUNC_DECL tquat<T, Q> pow(
97 tquat<T, Q> const& x,
98 T const& y);
99
103 //template<typename T, qualifier Q>
104 //tquat<T, Q> sqrt(
105 // tquat<T, Q> const& q);
106
110 template<typename T, qualifier Q>
111 GLM_FUNC_DECL vec<3, T, Q> rotate(
112 tquat<T, Q> const& q,
113 vec<3, T, Q> const& v);
114
118 template<typename T, qualifier Q>
119 GLM_FUNC_DECL vec<4, T, Q> rotate(
120 tquat<T, Q> const& q,
121 vec<4, T, Q> const& v);
122
126 template<typename T, qualifier Q>
127 GLM_FUNC_DECL T extractRealComponent(
128 tquat<T, Q> const& q);
129
133 template<typename T, qualifier Q>
134 GLM_FUNC_DECL mat<3, 3, T, Q> toMat3(
135 tquat<T, Q> const& x){return mat3_cast(x);}
136
140 template<typename T, qualifier Q>
141 GLM_FUNC_DECL mat<4, 4, T, Q> toMat4(
142 tquat<T, Q> const& x){return mat4_cast(x);}
143
147 template<typename T, qualifier Q>
148 GLM_FUNC_DECL tquat<T, Q> toQuat(
149 mat<3, 3, T, Q> const& x){return quat_cast(x);}
150
154 template<typename T, qualifier Q>
155 GLM_FUNC_DECL tquat<T, Q> toQuat(
156 mat<4, 4, T, Q> const& x){return quat_cast(x);}
157
161 template<typename T, qualifier Q>
162 GLM_FUNC_DECL tquat<T, Q> shortMix(
163 tquat<T, Q> const& x,
164 tquat<T, Q> const& y,
165 T const& a);
166
170 template<typename T, qualifier Q>
171 GLM_FUNC_DECL tquat<T, Q> fastMix(
172 tquat<T, Q> const& x,
173 tquat<T, Q> const& y,
174 T const& a);
175
181 template<typename T, qualifier Q>
182 GLM_FUNC_DECL tquat<T, Q> rotation(
183 vec<3, T, Q> const& orig,
184 vec<3, T, Q> const& dest);
185
190 template<typename T, qualifier Q>
191 GLM_FUNC_DECL tquat<T, Q> quatLookAt(
192 vec<3, T, Q> const& direction,
193 vec<3, T, Q> const& up);
194
199 template<typename T, qualifier Q>
200 GLM_FUNC_DECL tquat<T, Q> quatLookAtRH(
201 vec<3, T, Q> const& direction,
202 vec<3, T, Q> const& up);
203
208 template<typename T, qualifier Q>
209 GLM_FUNC_DECL tquat<T, Q> quatLookAtLH(
210 vec<3, T, Q> const& direction,
211 vec<3, T, Q> const& up);
212
216 template<typename T, qualifier Q>
217 GLM_FUNC_DECL T length2(tquat<T, Q> const& q);
218
220 }//namespace glm
221
222 #include "quaternion.inl"
glm::log
GLM_FUNC_DECL tquat< T, Q > log(tquat< T, Q > const &q)
Returns a log of a quaternion.
glm::quatLookAtLH
GLM_FUNC_DECL tquat< T, Q > quatLookAtLH(vec< 3, T, Q > const &direction, vec< 3, T, Q > const &up)
Build a left-handed look at quaternion.
glm::quatLookAt
GLM_FUNC_DECL tquat< T, Q > quatLookAt(vec< 3, T, Q > const &direction, vec< 3, T, Q > const &up)
Build a look at quaternion based on the default handedness.
glm::quat_identity
GLM_FUNC_DECL tquat< T, Q > quat_identity()
Create an identity quaternion.
glm::extractRealComponent
GLM_FUNC_DECL T extractRealComponent(tquat< T, Q > const &q)
Extract the real component of a quaternion.
glm::fastMix
GLM_FUNC_DECL tquat< T, Q > fastMix(tquat< T, Q > const &x, tquat< T, Q > const &y, T const &a)
Quaternion normalized linear interpolation.
glm::shortMix
GLM_FUNC_DECL tquat< T, Q > shortMix(tquat< T, Q > const &x, tquat< T, Q > const &y, T const &a)
Quaternion interpolation using the rotation short path.
glm::toQuat
GLM_FUNC_DECL tquat< T, Q > toQuat(mat< 4, 4, T, Q > const &x)
Converts a 4 * 4 matrix to a quaternion.
Definition: gtx/quaternion.hpp:155
glm::exp
GLM_FUNC_DECL tquat< T, Q > exp(tquat< T, Q > const &q)
Returns a exp of a quaternion.
glm
Definition: common.hpp:20
glm::rotation
GLM_FUNC_DECL tquat< T, Q > rotation(vec< 3, T, Q > const &orig, vec< 3, T, Q > const &dest)
Compute the rotation between two vectors.
glm::rotate
GLM_FUNC_DECL vec< 4, T, Q > rotate(tquat< T, Q > const &q, vec< 4, T, Q > const &v)
Rotates a 4 components vector by a quaternion.
glm::length2
GLM_FUNC_DECL T length2(tquat< T, Q > const &q)
Returns the squared length of x.
glm::toMat3
GLM_FUNC_DECL mat< 3, 3, T, Q > toMat3(tquat< T, Q > const &x)
Converts a quaternion to a 3 * 3 matrix.
Definition: gtx/quaternion.hpp:134
glm::mat3_cast
GLM_FUNC_DECL mat< 3, 3, T, Q > mat3_cast(tquat< T, Q > const &x)
Converts a quaternion to a 3 * 3 matrix.
glm::toMat4
GLM_FUNC_DECL mat< 4, 4, T, Q > toMat4(tquat< T, Q > const &x)
Converts a quaternion to a 4 * 4 matrix.
Definition: gtx/quaternion.hpp:141
glm::cross
GLM_FUNC_DECL vec< 3, T, Q > cross(vec< 3, T, Q > const &v, tquat< T, Q > const &q)
Compute a cross product between a vector and a quaternion.
glm::quatLookAtRH
GLM_FUNC_DECL tquat< T, Q > quatLookAtRH(vec< 3, T, Q > const &direction, vec< 3, T, Q > const &up)
Build a right-handed look at quaternion.
glm::squad
GLM_FUNC_DECL tquat< T, Q > squad(tquat< T, Q > const &q1, tquat< T, Q > const &q2, tquat< T, Q > const &s1, tquat< T, Q > const &s2, T const &h)
Compute a point on a path according squad equation.
glm::intermediate
GLM_FUNC_DECL tquat< T, Q > intermediate(tquat< T, Q > const &prev, tquat< T, Q > const &curr, tquat< T, Q > const &next)
Returns an intermediate control point for squad interpolation.
glm::pow
GLM_FUNC_DECL tquat< T, Q > pow(tquat< T, Q > const &x, T const &y)
Returns x raised to the y power.
glm::quat_cast
GLM_FUNC_DECL tquat< T, Q > quat_cast(mat< 3, 3, T, Q > const &x)
Converts a pure rotation 3 * 3 matrix to a quaternion.
glm::mat4_cast
GLM_FUNC_DECL mat< 4, 4, T, Q > mat4_cast(tquat< T, Q > const &x)
Converts a quaternion to a 4 * 4 matrix.