1 files changed, 85 insertions, 77 deletions

diff --git a/external/include/glm/gtx/dual_quaternion.hpp b/external/include/glm/gtx/dual_quaternion.hpp
index 4d7b61e..5544514 100644
--- a/external/include/glm/gtx/dual_quaternion.hpp
+++ b/external/include/glm/gtx/dual_quaternion.hpp
@@ -3,16 +3,15 @@
 /// @author Maksim Vorobiev (msomeone@gmail.com)
 ///
 /// @see core (dependence)
-/// @see gtc_half_float (dependence)
 /// @see gtc_constants (dependence)
 /// @see gtc_quaternion (dependence)
 ///
 /// @defgroup gtx_dual_quaternion GLM_GTX_dual_quaternion
 /// @ingroup gtx
 ///
-/// @brief Defines a templated dual-quaternion type and several dual-quaternion operations.
+/// Include <glm/gtx/dual_quaternion.hpp> to use the features of this extension.
 ///
-/// <glm/gtx/dual_quaternion.hpp> need to be included to use these functionalities.
+/// Defines a templated dual-quaternion type and several dual-quaternion operations.
 
 #pragma once
 
@@ -21,6 +20,10 @@
 #include "../gtc/constants.hpp"
 #include "../gtc/quaternion.hpp"
 
+#ifndef GLM_ENABLE_EXPERIMENTAL
+#	error "GLM: GLM_GTX_dual_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."
+#endif
+
 #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
 #	pragma message("GLM: GLM_GTX_dual_quaternion extension included")
 #endif
@@ -30,192 +33,197 @@ namespace glm
 	/// @addtogroup gtx_dual_quaternion
 	/// @{
 
-	template <typename T, precision P = defaultp>
+	template<typename T, qualifier Q = defaultp>
 	struct tdualquat
 	{
 		// -- Implementation detail --
 
 		typedef T value_type;
-		typedef glm::tquat<T, P> part_type;
+		typedef glm::tquat<T, Q> part_type;
 
 		// -- Data --
 
-		glm::tquat<T, P> real, dual;
+		glm::tquat<T, Q> real, dual;
 
 		// -- Component accesses --
 
 		typedef length_t length_type;
 		/// Return the count of components of a dual quaternion
-		GLM_FUNC_DECL static length_type length(){return 2;}
+		GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 2;}
 
 		GLM_FUNC_DECL part_type & operator[](length_type i);
-		GLM_FUNC_DECL part_type const & operator[](length_type i) const;
+		GLM_FUNC_DECL part_type const& operator[](length_type i) const;
 
 		// -- Implicit basic constructors --
 
 		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat() GLM_DEFAULT_CTOR;
-		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const & d) GLM_DEFAULT;
-		template <precision Q>
-		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const & d);
+		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, Q> const& d) GLM_DEFAULT;
+		template<qualifier P>
+		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tdualquat<T, P> const& d);
 
 		// -- Explicit basic constructors --
 
-		GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tdualquat(ctor);
-		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real);
-		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & orientation, tvec3<T, P> const & translation);
-		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, P> const & real, tquat<T, P> const & dual);
+		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& real);
+		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& orientation, vec<3, T, Q> const& translation);
+		GLM_FUNC_DECL GLM_CONSTEXPR tdualquat(tquat<T, Q> const& real, tquat<T, Q> const& dual);
 
 		// -- Conversion constructors --
 
-		template <typename U, precision Q>
-		GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, Q> const & q);
+		template<typename U, qualifier P>
+		GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tdualquat(tdualquat<U, P> const& q);
 
-		GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat2x4<T, P> const & holder_mat);
-		GLM_FUNC_DECL GLM_EXPLICIT tdualquat(tmat3x4<T, P> const & aug_mat);
+		GLM_FUNC_DECL GLM_EXPLICIT tdualquat(mat<2, 4, T, Q> const& holder_mat);
+		GLM_FUNC_DECL GLM_EXPLICIT tdualquat(mat<3, 4, T, Q> const& aug_mat);
 
 		// -- Unary arithmetic operators --
 
-		GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<T, P> const & m) GLM_DEFAULT;
+		GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<T, Q> const& m) GLM_DEFAULT;
 
-		template <typename U>
-		GLM_FUNC_DECL tdualquat<T, P> & operator=(tdualquat<U, P> const & m);
-		template <typename U>
-		GLM_FUNC_DECL tdualquat<T, P> & operator*=(U s);
-		template <typename U>
-		GLM_FUNC_DECL tdualquat<T, P> & operator/=(U s);
+		template<typename U>
+		GLM_FUNC_DECL tdualquat<T, Q> & operator=(tdualquat<U, Q> const& m);
+		template<typename U>
+		GLM_FUNC_DECL tdualquat<T, Q> & operator*=(U s);
+		template<typename U>
+		GLM_FUNC_DECL tdualquat<T, Q> & operator/=(U s);
 	};
 
 	// -- Unary bit operators --
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q);
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> operator-(tdualquat<T, P> const & q);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> operator-(tdualquat<T, Q> const& q);
 
 	// -- Binary operators --
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> operator+(tdualquat<T, P> const & q, tdualquat<T, P> const & p);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> operator+(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, tdualquat<T, P> const & p);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, tdualquat<T, Q> const& p);
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tvec3<T, P> operator*(tdualquat<T, P> const & q, tvec3<T, P> const & v);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL vec<3, T, Q> operator*(tdualquat<T, Q> const& q, vec<3, T, Q> const& v);
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tdualquat<T, P> const & q);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, tdualquat<T, Q> const& q);
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tvec4<T, P> operator*(tdualquat<T, P> const & q, tvec4<T, P> const & v);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL vec<4, T, Q> operator*(tdualquat<T, Q> const& q, vec<4, T, Q> const& v);
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tdualquat<T, P> const & q);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, tdualquat<T, Q> const& q);
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> operator*(tdualquat<T, P> const & q, T const & s);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> operator*(tdualquat<T, Q> const& q, T const& s);
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> operator*(T const & s, tdualquat<T, P> const & q);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> operator*(T const& s, tdualquat<T, Q> const& q);
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> operator/(tdualquat<T, P> const & q, T const & s);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> operator/(tdualquat<T, Q> const& q, T const& s);
 
 	// -- Boolean operators --
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL bool operator==(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL bool operator==(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
+
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL bool operator!=(tdualquat<T, Q> const& q1, tdualquat<T, Q> const& q2);
 
-	template <typename T, precision P>
-	GLM_FUNC_DECL bool operator!=(tdualquat<T, P> const & q1, tdualquat<T, P> const & q2);
+	/// Creates an identity dual quaternion.
+	///
+	/// @see gtx_dual_quaternion
+	template <typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> dual_quat_identity();
 
 	/// Returns the normalized quaternion.
 	///
 	/// @see gtx_dual_quaternion
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> normalize(tdualquat<T, P> const & q);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> normalize(tdualquat<T, Q> const& q);
 
 	/// Returns the linear interpolation of two dual quaternion.
 	///
 	/// @see gtc_dual_quaternion
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> lerp(tdualquat<T, P> const & x, tdualquat<T, P> const & y, T const & a);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> lerp(tdualquat<T, Q> const& x, tdualquat<T, Q> const& y, T const& a);
 
 	/// Returns the q inverse.
 	///
 	/// @see gtx_dual_quaternion
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> inverse(tdualquat<T, P> const & q);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> inverse(tdualquat<T, Q> const& q);
 
 	/// Converts a quaternion to a 2 * 4 matrix.
 	///
 	/// @see gtx_dual_quaternion
-	template <typename T, precision P>
-	GLM_FUNC_DECL tmat2x4<T, P> mat2x4_cast(tdualquat<T, P> const & x);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL mat<2, 4, T, Q> mat2x4_cast(tdualquat<T, Q> const& x);
 
 	/// Converts a quaternion to a 3 * 4 matrix.
 	///
 	/// @see gtx_dual_quaternion
-	template <typename T, precision P>
-	GLM_FUNC_DECL tmat3x4<T, P> mat3x4_cast(tdualquat<T, P> const & x);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL mat<3, 4, T, Q> mat3x4_cast(tdualquat<T, Q> const& x);
 
 	/// Converts a 2 * 4 matrix (matrix which holds real and dual parts) to a quaternion.
 	///
 	/// @see gtx_dual_quaternion
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(tmat2x4<T, P> const & x);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<2, 4, T, Q> const& x);
 
 	/// Converts a 3 * 4 matrix (augmented matrix rotation + translation) to a quaternion.
 	///
 	/// @see gtx_dual_quaternion
-	template <typename T, precision P>
-	GLM_FUNC_DECL tdualquat<T, P> dualquat_cast(tmat3x4<T, P> const & x);
+	template<typename T, qualifier Q>
+	GLM_FUNC_DECL tdualquat<T, Q> dualquat_cast(mat<3, 4, T, Q> const& x);
 
 
-	/// Dual-quaternion of low single-precision floating-point numbers.
+	/// Dual-quaternion of low single-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef tdualquat<float, lowp>		lowp_dualquat;
 
-	/// Dual-quaternion of medium single-precision floating-point numbers.
+	/// Dual-quaternion of medium single-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef tdualquat<float, mediump>	mediump_dualquat;
 
-	/// Dual-quaternion of high single-precision floating-point numbers.
+	/// Dual-quaternion of high single-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef tdualquat<float, highp>		highp_dualquat;
 
 
-	/// Dual-quaternion of low single-precision floating-point numbers.
+	/// Dual-quaternion of low single-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef tdualquat<float, lowp>		lowp_fdualquat;
 
-	/// Dual-quaternion of medium single-precision floating-point numbers.
+	/// Dual-quaternion of medium single-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef tdualquat<float, mediump>	mediump_fdualquat;
 
-	/// Dual-quaternion of high single-precision floating-point numbers.
+	/// Dual-quaternion of high single-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef tdualquat<float, highp>		highp_fdualquat;
 
 
-	/// Dual-quaternion of low double-precision floating-point numbers.
+	/// Dual-quaternion of low double-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef tdualquat<double, lowp>		lowp_ddualquat;
 
-	/// Dual-quaternion of medium double-precision floating-point numbers.
+	/// Dual-quaternion of medium double-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef tdualquat<double, mediump>	mediump_ddualquat;
 
-	/// Dual-quaternion of high double-precision floating-point numbers.
+	/// Dual-quaternion of high double-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef tdualquat<double, highp>	highp_ddualquat;
@@ -227,7 +235,7 @@ namespace glm
 	/// @see gtx_dual_quaternion
 	typedef highp_fdualquat			dualquat;
 
-	/// Dual-quaternion of single-precision floating-point numbers.
+	/// Dual-quaternion of single-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef highp_fdualquat			fdualquat;
@@ -246,7 +254,7 @@ namespace glm
 
 
 #if(!defined(GLM_PRECISION_HIGHP_DOUBLE) && !defined(GLM_PRECISION_MEDIUMP_DOUBLE) && !defined(GLM_PRECISION_LOWP_DOUBLE))
-	/// Dual-quaternion of default double-precision floating-point numbers.
+	/// Dual-quaternion of default double-qualifier floating-point numbers.
 	///
 	/// @see gtx_dual_quaternion
 	typedef highp_ddualquat			ddualquat;