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Diffstat (limited to 'external/include/glm/gtx/quaternion.hpp')
| -rw-r--r-- | external/include/glm/gtx/quaternion.hpp | 185 |
1 files changed, 185 insertions, 0 deletions
diff --git a/external/include/glm/gtx/quaternion.hpp b/external/include/glm/gtx/quaternion.hpp new file mode 100644 index 0000000..674d7e7 --- /dev/null +++ b/external/include/glm/gtx/quaternion.hpp @@ -0,0 +1,185 @@ +/// @ref gtx_quaternion +/// @file glm/gtx/quaternion.hpp +/// +/// @see core (dependence) +/// @see gtx_extented_min_max (dependence) +/// +/// @defgroup gtx_quaternion GLM_GTX_quaternion +/// @ingroup gtx +/// +/// @brief Extented quaternion types and functions +/// +/// <glm/gtx/quaternion.hpp> need to be included to use these functionalities. + +#pragma once + +// Dependency: +#include "../glm.hpp" +#include "../gtc/constants.hpp" +#include "../gtc/quaternion.hpp" +#include "../gtx/norm.hpp" + +#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED) +# pragma message("GLM: GLM_GTX_quaternion extension included") +#endif + +namespace glm +{ + /// @addtogroup gtx_quaternion + /// @{ + + /// Compute a cross product between a quaternion and a vector. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tvec3<T, P> cross( + tquat<T, P> const & q, + tvec3<T, P> const & v); + + //! Compute a cross product between a vector and a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tvec3<T, P> cross( + tvec3<T, P> const & v, + tquat<T, P> const & q); + + //! Compute a point on a path according squad equation. + //! q1 and q2 are control points; s1 and s2 are intermediate control points. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> squad( + tquat<T, P> const & q1, + tquat<T, P> const & q2, + tquat<T, P> const & s1, + tquat<T, P> const & s2, + T const & h); + + //! Returns an intermediate control point for squad interpolation. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> intermediate( + tquat<T, P> const & prev, + tquat<T, P> const & curr, + tquat<T, P> const & next); + + //! Returns a exp of a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> exp( + tquat<T, P> const & q); + + //! Returns a log of a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> log( + tquat<T, P> const & q); + + /// Returns x raised to the y power. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> pow( + tquat<T, P> const & x, + T const & y); + + //! Returns quarternion square root. + /// + /// @see gtx_quaternion + //template<typename T, precision P> + //tquat<T, P> sqrt( + // tquat<T, P> const & q); + + //! Rotates a 3 components vector by a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tvec3<T, P> rotate( + tquat<T, P> const & q, + tvec3<T, P> const & v); + + /// Rotates a 4 components vector by a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tvec4<T, P> rotate( + tquat<T, P> const & q, + tvec4<T, P> const & v); + + /// Extract the real component of a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL T extractRealComponent( + tquat<T, P> const & q); + + /// Converts a quaternion to a 3 * 3 matrix. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tmat3x3<T, P> toMat3( + tquat<T, P> const & x){return mat3_cast(x);} + + /// Converts a quaternion to a 4 * 4 matrix. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tmat4x4<T, P> toMat4( + tquat<T, P> const & x){return mat4_cast(x);} + + /// Converts a 3 * 3 matrix to a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> toQuat( + tmat3x3<T, P> const & x){return quat_cast(x);} + + /// Converts a 4 * 4 matrix to a quaternion. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> toQuat( + tmat4x4<T, P> const & x){return quat_cast(x);} + + /// Quaternion interpolation using the rotation short path. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> shortMix( + tquat<T, P> const & x, + tquat<T, P> const & y, + T const & a); + + /// Quaternion normalized linear interpolation. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> fastMix( + tquat<T, P> const & x, + tquat<T, P> const & y, + T const & a); + + /// Compute the rotation between two vectors. + /// param orig vector, needs to be normalized + /// param dest vector, needs to be normalized + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL tquat<T, P> rotation( + tvec3<T, P> const & orig, + tvec3<T, P> const & dest); + + /// Returns the squared length of x. + /// + /// @see gtx_quaternion + template<typename T, precision P> + GLM_FUNC_DECL T length2(tquat<T, P> const & q); + + /// @} +}//namespace glm + +#include "quaternion.inl" |