391 lines
13 KiB
C++
391 lines
13 KiB
C++
///////////////////////////////////////////////////////////////////////////////////
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/// OpenGL Mathematics (glm.g-truc.net)
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///
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/// Copyright (c) 2005 - 2015 G-Truc Creation (www.g-truc.net)
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/// Permission is hereby granted, free of charge, to any person obtaining a copy
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/// of this software and associated documentation files (the "Software"), to deal
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/// in the Software without restriction, including without limitation the rights
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/// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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/// copies of the Software, and to permit persons to whom the Software is
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/// furnished to do so, subject to the following conditions:
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///
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/// The above copyright notice and this permission notice shall be included in
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/// all copies or substantial portions of the Software.
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///
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/// Restrictions:
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/// By making use of the Software for military purposes, you choose to make
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/// a Bunny unhappy.
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///
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/// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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/// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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/// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
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/// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
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/// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
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/// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
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/// THE SOFTWARE.
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///
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/// @ref gtc_quaternion
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/// @file glm/gtc/quaternion.hpp
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/// @date 2009-05-21 / 2012-12-20
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/// @author Christophe Riccio
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///
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/// @see core (dependence)
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/// @see gtc_half_float (dependence)
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/// @see gtc_constants (dependence)
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///
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/// @defgroup gtc_quaternion GLM_GTC_quaternion
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/// @ingroup gtc
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///
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/// @brief Defines a templated quaternion type and several quaternion operations.
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///
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/// <glm/gtc/quaternion.hpp> need to be included to use these functionalities.
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///////////////////////////////////////////////////////////////////////////////////
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#pragma once
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// Dependency:
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#include "../mat3x3.hpp"
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#include "../mat4x4.hpp"
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#include "../vec3.hpp"
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#include "../vec4.hpp"
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#include "../gtc/constants.hpp"
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#if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED))
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# pragma message("GLM: GLM_GTC_quaternion extension included")
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#endif
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namespace glm
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{
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/// @addtogroup gtc_quaternion
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/// @{
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template <typename T, precision P = defaultp>
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struct tquat
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{
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// -- Implementation detail --
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typedef tquat<T, P> type;
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typedef T value_type;
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# ifdef GLM_META_PROG_HELPERS
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static GLM_RELAXED_CONSTEXPR length_t components = 4;
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static GLM_RELAXED_CONSTEXPR precision prec = P;
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# endif//GLM_META_PROG_HELPERS
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// -- Data --
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T x, y, z, w;
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// -- Component accesses --
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# ifdef GLM_FORCE_SIZE_FUNC
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typedef size_t size_type;
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/// Return the count of components of a quaternion
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GLM_FUNC_DECL GLM_CONSTEXPR size_type size() const;
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GLM_FUNC_DECL T & operator[](size_type i);
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GLM_FUNC_DECL T const & operator[](size_type i) const;
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# else
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typedef length_t length_type;
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/// Return the count of components of a quaternion
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GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const;
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GLM_FUNC_DECL T & operator[](length_type i);
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GLM_FUNC_DECL T const & operator[](length_type i) const;
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# endif//GLM_FORCE_SIZE_FUNC
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// -- Implicit basic constructors --
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GLM_FUNC_DECL tquat() GLM_DEFAULT_CTOR;
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GLM_FUNC_DECL tquat(tquat<T, P> const & q) GLM_DEFAULT;
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template <precision Q>
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GLM_FUNC_DECL tquat(tquat<T, Q> const & q);
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// -- Explicit basic constructors --
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GLM_FUNC_DECL explicit tquat(ctor);
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GLM_FUNC_DECL explicit tquat(T const & s, tvec3<T, P> const & v);
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GLM_FUNC_DECL tquat(T const & w, T const & x, T const & y, T const & z);
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// -- Conversion constructors --
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template <typename U, precision Q>
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GLM_FUNC_DECL GLM_EXPLICIT tquat(tquat<U, Q> const & q);
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/// Explicit conversion operators
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# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
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GLM_FUNC_DECL explicit operator tmat3x3<T, P>();
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GLM_FUNC_DECL explicit operator tmat4x4<T, P>();
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# endif
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/// Create a quaternion from two normalized axis
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///
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/// @param u A first normalized axis
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/// @param v A second normalized axis
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/// @see gtc_quaternion
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/// @see http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors
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GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & u, tvec3<T, P> const & v);
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/// Build a quaternion from euler angles (pitch, yaw, roll), in radians.
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GLM_FUNC_DECL explicit tquat(tvec3<T, P> const & eulerAngles);
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GLM_FUNC_DECL explicit tquat(tmat3x3<T, P> const & m);
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GLM_FUNC_DECL explicit tquat(tmat4x4<T, P> const & m);
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// -- Unary arithmetic operators --
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GLM_FUNC_DECL tquat<T, P> & operator=(tquat<T, P> const & m) GLM_DEFAULT;
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template <typename U>
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GLM_FUNC_DECL tquat<T, P> & operator=(tquat<U, P> const & m);
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template <typename U>
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GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<U, P> const & q);
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template <typename U>
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GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<U, P> const & q);
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template <typename U>
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GLM_FUNC_DECL tquat<T, P> & operator*=(U s);
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template <typename U>
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GLM_FUNC_DECL tquat<T, P> & operator/=(U s);
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};
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// -- Unary bit operators --
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q);
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// -- Binary operators --
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p);
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v);
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s);
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q);
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s);
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// -- Boolean operators --
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template <typename T, precision P>
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GLM_FUNC_DECL bool operator==(tquat<T, P> const & q1, tquat<T, P> const & q2);
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template <typename T, precision P>
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GLM_FUNC_DECL bool operator!=(tquat<T, P> const & q1, tquat<T, P> const & q2);
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/// Returns the length of the quaternion.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL T length(tquat<T, P> const & q);
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/// Returns the normalized quaternion.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q);
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/// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
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///
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/// @see gtc_quaternion
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template <typename T, precision P, template <typename, precision> class quatType>
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GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y);
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/// Spherical linear interpolation of two quaternions.
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/// The interpolation is oriented and the rotation is performed at constant speed.
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/// For short path spherical linear interpolation, use the slerp function.
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///
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/// @param x A quaternion
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/// @param y A quaternion
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/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
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/// @see gtc_quaternion
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/// @see - slerp(tquat<T, P> const & x, tquat<T, P> const & y, T const & a)
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T a);
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/// Linear interpolation of two quaternions.
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/// The interpolation is oriented.
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///
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/// @param x A quaternion
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/// @param y A quaternion
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/// @param a Interpolation factor. The interpolation is defined in the range [0, 1].
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
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/// Spherical linear interpolation of two quaternions.
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/// The interpolation always take the short path and the rotation is performed at constant speed.
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///
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/// @param x A quaternion
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/// @param y A quaternion
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/// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1].
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/// @tparam T Value type used to build the quaternion. Supported: half, float or double.
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
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/// Returns the q conjugate.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q);
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/// Returns the q inverse.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q);
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/// Rotates a quaternion from a vector of 3 components axis and an angle.
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///
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/// @param q Source orientation
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/// @param angle Angle expressed in radians.
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/// @param axis Axis of the rotation
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis);
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/// Returns euler angles, yitch as x, yaw as y, roll as z.
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/// The result is expressed in radians if GLM_FORCE_RADIANS is defined or degrees otherwise.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x);
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/// Returns roll value of euler angles expressed in radians.
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///
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/// @see gtx_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL T roll(tquat<T, P> const & x);
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/// Returns pitch value of euler angles expressed in radians.
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///
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/// @see gtx_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL T pitch(tquat<T, P> const & x);
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/// Returns yaw value of euler angles expressed in radians.
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///
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/// @see gtx_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL T yaw(tquat<T, P> const & x);
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/// Converts a quaternion to a 3 * 3 matrix.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x);
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/// Converts a quaternion to a 4 * 4 matrix.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x);
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/// Converts a 3 * 3 matrix to a quaternion.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x);
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/// Converts a 4 * 4 matrix to a quaternion.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x);
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/// Returns the quaternion rotation angle.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL T angle(tquat<T, P> const & x);
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/// Returns the q rotation axis.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x);
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/// Build a quaternion from an angle and a normalized axis.
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///
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/// @param angle Angle expressed in radians.
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/// @param axis Axis of the quaternion, must be normalized.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis);
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/// Returns the component-wise comparison result of x < y.
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///
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/// @tparam quatType Floating-point quaternion types.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y);
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/// Returns the component-wise comparison of result x <= y.
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///
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/// @tparam quatType Floating-point quaternion types.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
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/// Returns the component-wise comparison of result x > y.
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///
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/// @tparam quatType Floating-point quaternion types.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y);
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/// Returns the component-wise comparison of result x >= y.
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///
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/// @tparam quatType Floating-point quaternion types.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
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/// Returns the component-wise comparison of result x == y.
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///
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/// @tparam quatType Floating-point quaternion types.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y);
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/// Returns the component-wise comparison of result x != y.
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///
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/// @tparam quatType Floating-point quaternion types.
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///
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/// @see gtc_quaternion
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template <typename T, precision P>
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GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y);
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/// @}
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} //namespace glm
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#include "quaternion.inl"
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