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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 "../ext/quaternion_exponential.hpp"
21 #include "../gtx/norm.hpp"
22
23 #ifndef GLM_ENABLE_EXPERIMENTAL
24 # 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."
25 #elif GLM_MESSAGES == GLM_ENABLE && !defined(GLM_EXT_INCLUDED)
26 # pragma message("GLM: GLM_GTX_quaternion extension included")
27 #endif
28
29 namespace glm
30 {
33
37 template<typename T, qualifier Q>
38 GLM_FUNC_DECL GLM_CONSTEXPR qua<T, Q> quat_identity();
39
43 template<typename T, qualifier Q>
44 GLM_FUNC_DECL GLM_CONSTEXPR vec<3, T, Q> cross(
45 qua<T, Q> const& q,
46 vec<3, T, Q> const& v);
47
51 template<typename T, qualifier Q>
52 GLM_FUNC_DECL GLM_CONSTEXPR vec<3, T, Q> cross(
53 vec<3, T, Q> const& v,
54 qua<T, Q> const& q);
55
60 template<typename T, qualifier Q>
61 GLM_FUNC_DECL qua<T, Q> squad(
62 qua<T, Q> const& q1,
63 qua<T, Q> const& q2,
64 qua<T, Q> const& s1,
65 qua<T, Q> const& s2,
66 T const& h);
67
71 template<typename T, qualifier Q>
72 GLM_FUNC_DECL qua<T, Q> intermediate(
73 qua<T, Q> const& prev,
74 qua<T, Q> const& curr,
75 qua<T, Q> const& next);
76
80 //template<typename T, qualifier Q>
81 //qua<T, Q> sqrt(
82 // qua<T, Q> const& q);
83
87 template<typename T, qualifier Q>
88 GLM_FUNC_DECL vec<3, T, Q> rotate(
89 qua<T, Q> const& q,
90 vec<3, T, Q> const& v);
91
95 template<typename T, qualifier Q>
96 GLM_FUNC_DECL vec<4, T, Q> rotate(
97 qua<T, Q> const& q,
98 vec<4, T, Q> const& v);
99
103 template<typename T, qualifier Q>
104 GLM_FUNC_DECL T extractRealComponent(
105 qua<T, Q> const& q);
106
110 template<typename T, qualifier Q>
111 GLM_FUNC_QUALIFIER mat<3, 3, T, Q> toMat3(
112 qua<T, Q> const& x){return mat3_cast(x);}
113
117 template<typename T, qualifier Q>
118 GLM_FUNC_QUALIFIER mat<4, 4, T, Q> toMat4(
119 qua<T, Q> const& x){return mat4_cast(x);}
120
124 template<typename T, qualifier Q>
125 GLM_FUNC_QUALIFIER qua<T, Q> toQuat(
126 mat<3, 3, T, Q> const& x){return quat_cast(x);}
127
131 template<typename T, qualifier Q>
132 GLM_FUNC_QUALIFIER qua<T, Q> toQuat(
133 mat<4, 4, T, Q> const& x){return quat_cast(x);}
134
138 template<typename T, qualifier Q>
139 GLM_FUNC_DECL qua<T, Q> shortMix(
140 qua<T, Q> const& x,
141 qua<T, Q> const& y,
142 T const& a);
143
147 template<typename T, qualifier Q>
148 GLM_FUNC_DECL qua<T, Q> fastMix(
149 qua<T, Q> const& x,
150 qua<T, Q> const& y,
151 T const& a);
152
158 template<typename T, qualifier Q>
159 GLM_FUNC_DECL qua<T, Q> rotation(
160 vec<3, T, Q> const& orig,
161 vec<3, T, Q> const& dest);
162
166 template<typename T, qualifier Q>
167 GLM_FUNC_DECL GLM_CONSTEXPR T length2(qua<T, Q> const& q);
168
170 }//namespace glm
171
172 #include "quaternion.inl"
glm::quat_cast
GLM_FUNC_DECL qua< T, Q > quat_cast(mat< 3, 3, T, Q > const &x)
Converts a pure rotation 3 * 3 matrix to a quaternion.
glm::fastMix
GLM_FUNC_DECL qua< T, Q > fastMix(qua< T, Q > const &x, qua< T, Q > const &y, T const &a)
Quaternion normalized linear interpolation.
glm::mat3_cast
GLM_FUNC_DECL mat< 3, 3, T, Q > mat3_cast(qua< T, Q > const &x)
Converts a quaternion to a 3 * 3 matrix.
glm::quat_identity
GLM_FUNC_DECL GLM_CONSTEXPR qua< T, Q > quat_identity()
Create an identity quaternion.
glm::extractRealComponent
GLM_FUNC_DECL T extractRealComponent(qua< T, Q > const &q)
Extract the real component of a quaternion.
glm::rotation
GLM_FUNC_DECL qua< T, Q > rotation(vec< 3, T, Q > const &orig, vec< 3, T, Q > const &dest)
Compute the rotation between two vectors.
glm::toMat4
GLM_FUNC_QUALIFIER mat< 4, 4, T, Q > toMat4(qua< T, Q > const &x)
Converts a quaternion to a 4 * 4 matrix.
Definition: gtx/quaternion.hpp:118
glm::squad
GLM_FUNC_DECL qua< T, Q > squad(qua< T, Q > const &q1, qua< T, Q > const &q2, qua< T, Q > const &s1, qua< T, Q > const &s2, T const &h)
Compute a point on a path according squad equation.
glm::rotate
GLM_FUNC_DECL vec< 4, T, Q > rotate(qua< T, Q > const &q, vec< 4, T, Q > const &v)
Rotates a 4 components vector by a quaternion.
glm::cross
GLM_FUNC_DECL GLM_CONSTEXPR vec< 3, T, Q > cross(vec< 3, T, Q > const &v, qua< T, Q > const &q)
Compute a cross product between a vector and a quaternion.
glm::toQuat
GLM_FUNC_QUALIFIER qua< T, Q > toQuat(mat< 4, 4, T, Q > const &x)
Converts a 4 * 4 matrix to a quaternion.
Definition: gtx/quaternion.hpp:132
glm::length2
GLM_FUNC_DECL GLM_CONSTEXPR T length2(qua< T, Q > const &q)
Returns the squared length of x.
glm::toMat3
GLM_FUNC_QUALIFIER mat< 3, 3, T, Q > toMat3(qua< T, Q > const &x)
Converts a quaternion to a 3 * 3 matrix.
Definition: gtx/quaternion.hpp:111
glm::mat4_cast
GLM_FUNC_DECL mat< 4, 4, T, Q > mat4_cast(qua< T, Q > const &x)
Converts a quaternion to a 4 * 4 matrix.
glm::shortMix
GLM_FUNC_DECL qua< T, Q > shortMix(qua< T, Q > const &x, qua< T, Q > const &y, T const &a)
Quaternion interpolation using the rotation short path.
glm::intermediate
GLM_FUNC_DECL qua< T, Q > intermediate(qua< T, Q > const &prev, qua< T, Q > const &curr, qua< T, Q > const &next)
Returns an intermediate control point for squad interpolation.