diff options
Diffstat (limited to 'external/include/glm/gtc/quaternion.hpp')
| -rw-r--r-- | external/include/glm/gtc/quaternion.hpp | 437 |
1 files changed, 0 insertions, 437 deletions
diff --git a/external/include/glm/gtc/quaternion.hpp b/external/include/glm/gtc/quaternion.hpp deleted file mode 100644 index 25f741c..0000000 --- a/external/include/glm/gtc/quaternion.hpp +++ /dev/null @@ -1,437 +0,0 @@ -/// @ref gtc_quaternion -/// @file glm/gtc/quaternion.hpp -/// -/// @see core (dependence) -/// @see gtc_constants (dependence) -/// -/// @defgroup gtc_quaternion GLM_GTC_quaternion -/// @ingroup gtc -/// -/// Include <glm/gtc/quaternion.hpp> to use the features of this extension. -/// -/// Defines a templated quaternion type and several quaternion operations. - -#pragma once - -// Dependency: -#include "../mat3x3.hpp" -#include "../mat4x4.hpp" -#include "../vec3.hpp" -#include "../vec4.hpp" -#include "../gtc/constants.hpp" - -#if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED) -# pragma message("GLM: GLM_GTC_quaternion extension included") -#endif - -namespace glm -{ - /// @addtogroup gtc_quaternion - /// @{ - - template<typename T, qualifier Q = defaultp> - struct tquat - { - // -- Implementation detail -- - - typedef tquat<T, Q> type; - typedef T value_type; - - // -- Data -- - -# if GLM_HAS_ALIGNED_TYPE -# if GLM_COMPILER & GLM_COMPILER_GCC -# pragma GCC diagnostic push -# pragma GCC diagnostic ignored "-Wpedantic" -# endif -# if GLM_COMPILER & GLM_COMPILER_CLANG -# pragma clang diagnostic push -# pragma clang diagnostic ignored "-Wgnu-anonymous-struct" -# pragma clang diagnostic ignored "-Wnested-anon-types" -# endif - - union - { - struct { T x, y, z, w;}; - typename detail::storage<T, sizeof(T) * 4, detail::is_aligned<Q>::value>::type data; - }; - -# if GLM_COMPILER & GLM_COMPILER_CLANG -# pragma clang diagnostic pop -# endif -# if GLM_COMPILER & GLM_COMPILER_GCC -# pragma GCC diagnostic pop -# endif -# else - T x, y, z, w; -# endif - - // -- Component accesses -- - - typedef length_t length_type; - /// Return the count of components of a quaternion - GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 4;} - - GLM_FUNC_DECL T & operator[](length_type i); - GLM_FUNC_DECL T const& operator[](length_type i) const; - - // -- Implicit basic constructors -- - - GLM_FUNC_DECL GLM_CONSTEXPR tquat() GLM_DEFAULT_CTOR; - GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, Q> const& q) GLM_DEFAULT; - template<qualifier P> - GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, P> const& q); - - // -- Explicit basic constructors -- - - GLM_FUNC_DECL GLM_CONSTEXPR tquat(T s, vec<3, T, Q> const& v); - GLM_FUNC_DECL GLM_CONSTEXPR tquat(T w, T x, T y, T z); - - // -- Conversion constructors -- - - template<typename U, qualifier P> - GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tquat(tquat<U, P> const& q); - - /// Explicit conversion operators -# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS - GLM_FUNC_DECL explicit operator mat<3, 3, T, Q>(); - GLM_FUNC_DECL explicit operator mat<4, 4, T, Q>(); -# endif - - /// Create a quaternion from two normalized axis - /// - /// @param u A first normalized axis - /// @param v A second normalized axis - /// @see gtc_quaternion - /// @see http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors - GLM_FUNC_DECL tquat(vec<3, T, Q> const& u, vec<3, T, Q> const& v); - - /// Build a quaternion from euler angles (pitch, yaw, roll), in radians. - GLM_FUNC_DECL GLM_EXPLICIT tquat(vec<3, T, Q> const& eulerAngles); - GLM_FUNC_DECL GLM_EXPLICIT tquat(mat<3, 3, T, Q> const& q); - GLM_FUNC_DECL GLM_EXPLICIT tquat(mat<4, 4, T, Q> const& q); - - // -- Unary arithmetic operators -- - - GLM_FUNC_DECL tquat<T, Q> & operator=(tquat<T, Q> const& q) GLM_DEFAULT; - - template<typename U> - GLM_FUNC_DECL tquat<T, Q> & operator=(tquat<U, Q> const& q); - template<typename U> - GLM_FUNC_DECL tquat<T, Q> & operator+=(tquat<U, Q> const& q); - template<typename U> - GLM_FUNC_DECL tquat<T, Q> & operator-=(tquat<U, Q> const& q); - template<typename U> - GLM_FUNC_DECL tquat<T, Q> & operator*=(tquat<U, Q> const& q); - template<typename U> - GLM_FUNC_DECL tquat<T, Q> & operator*=(U s); - template<typename U> - GLM_FUNC_DECL tquat<T, Q> & operator/=(U s); - }; - - // -- Unary bit operators -- - - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> operator+(tquat<T, Q> const& q); - - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> operator-(tquat<T, Q> const& q); - - // -- Binary operators -- - - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> operator+(tquat<T, Q> const& q, tquat<T, Q> const& p); - - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> operator-(tquat<T, Q> const& q, tquat<T, Q> const& p); - - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> operator*(tquat<T, Q> const& q, tquat<T, Q> const& p); - - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<3, T, Q> operator*(tquat<T, Q> const& q, vec<3, T, Q> const& v); - - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, tquat<T, Q> const& q); - - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<4, T, Q> operator*(tquat<T, Q> const& q, vec<4, T, Q> const& v); - - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, tquat<T, Q> const& q); - - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> operator*(tquat<T, Q> const& q, T const& s); - - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> operator*(T const& s, tquat<T, Q> const& q); - - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> operator/(tquat<T, Q> const& q, T const& s); - - // -- Boolean operators -- - - template<typename T, qualifier Q> - GLM_FUNC_DECL bool operator==(tquat<T, Q> const& q1, tquat<T, Q> const& q2); - - template<typename T, qualifier Q> - GLM_FUNC_DECL bool operator!=(tquat<T, Q> const& q1, tquat<T, Q> const& q2); - - /// Returns the length of the quaternion. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL T length(tquat<T, Q> const& q); - - /// Returns the normalized quaternion. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> normalize(tquat<T, Q> const& q); - - /// Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ... - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL T dot(tquat<T, Q> const& x, tquat<T, Q> const& y); - - /// Spherical linear interpolation of two quaternions. - /// The interpolation is oriented and the rotation is performed at constant speed. - /// For short path spherical linear interpolation, use the slerp function. - /// - /// @param x A quaternion - /// @param y A quaternion - /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. - /// @tparam T Floating-point scalar types. - /// - /// @see - slerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T const& a) - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> mix(tquat<T, Q> const& x, tquat<T, Q> const& y, T a); - - /// Linear interpolation of two quaternions. - /// The interpolation is oriented. - /// - /// @param x A quaternion - /// @param y A quaternion - /// @param a Interpolation factor. The interpolation is defined in the range [0, 1]. - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> lerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T a); - - /// Spherical linear interpolation of two quaternions. - /// The interpolation always take the short path and the rotation is performed at constant speed. - /// - /// @param x A quaternion - /// @param y A quaternion - /// @param a Interpolation factor. The interpolation is defined beyond the range [0, 1]. - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> slerp(tquat<T, Q> const& x, tquat<T, Q> const& y, T a); - - /// Returns the q conjugate. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> conjugate(tquat<T, Q> const& q); - - /// Returns the q inverse. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> inverse(tquat<T, Q> const& q); - - /// Rotates a quaternion from a vector of 3 components axis and an angle. - /// - /// @param q Source orientation - /// @param angle Angle expressed in radians. - /// @param axis Axis of the rotation - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> rotate(tquat<T, Q> const& q, T const& angle, vec<3, T, Q> const& axis); - - /// Returns euler angles, pitch as x, yaw as y, roll as z. - /// The result is expressed in radians. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<3, T, Q> eulerAngles(tquat<T, Q> const& x); - - /// Returns roll value of euler angles expressed in radians. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL T roll(tquat<T, Q> const& x); - - /// Returns pitch value of euler angles expressed in radians. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL T pitch(tquat<T, Q> const& x); - - /// Returns yaw value of euler angles expressed in radians. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL T yaw(tquat<T, Q> const& x); - - /// Converts a quaternion to a 3 * 3 matrix. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL mat<3, 3, T, Q> mat3_cast(tquat<T, Q> const& x); - - /// Converts a quaternion to a 4 * 4 matrix. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL mat<4, 4, T, Q> mat4_cast(tquat<T, Q> const& x); - - /// Converts a pure rotation 3 * 3 matrix to a quaternion. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> quat_cast(mat<3, 3, T, Q> const& x); - - /// Converts a pure rotation 4 * 4 matrix to a quaternion. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> quat_cast(mat<4, 4, T, Q> const& x); - - /// Returns the quaternion rotation angle. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL T angle(tquat<T, Q> const& x); - - /// Returns the q rotation axis. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<3, T, Q> axis(tquat<T, Q> const& x); - - /// Build a quaternion from an angle and a normalized axis. - /// - /// @param angle Angle expressed in radians. - /// @param axis Axis of the quaternion, must be normalized. - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL tquat<T, Q> angleAxis(T const& angle, vec<3, T, Q> const& axis); - - /// Returns the component-wise comparison result of x < y. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<4, bool, Q> lessThan(tquat<T, Q> const& x, tquat<T, Q> const& y); - - /// Returns the component-wise comparison of result x <= y. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<4, bool, Q> lessThanEqual(tquat<T, Q> const& x, tquat<T, Q> const& y); - - /// Returns the component-wise comparison of result x > y. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<4, bool, Q> greaterThan(tquat<T, Q> const& x, tquat<T, Q> const& y); - - /// Returns the component-wise comparison of result x >= y. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<4, bool, Q> greaterThanEqual(tquat<T, Q> const& x, tquat<T, Q> const& y); - - /// Returns the component-wise comparison of result x == y. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<4, bool, Q> equal(tquat<T, Q> const& x, tquat<T, Q> const& y); - - /// Returns the component-wise comparison of result x != y. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<4, bool, Q> notEqual(tquat<T, Q> const& x, tquat<T, Q> const& y); - - /// Returns true if x holds a NaN (not a number) - /// representation in the underlying implementation's set of - /// floating point representations. Returns false otherwise, - /// including for implementations with no NaN - /// representations. - /// - /// /!\ When using compiler fast math, this function may fail. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<4, bool, Q> isnan(tquat<T, Q> const& x); - - /// Returns true if x holds a positive infinity or negative - /// infinity representation in the underlying implementation's - /// set of floating point representations. Returns false - /// otherwise, including for implementations with no infinity - /// representations. - /// - /// @tparam T Floating-point scalar types. - /// - /// @see gtc_quaternion - template<typename T, qualifier Q> - GLM_FUNC_DECL vec<4, bool, Q> isinf(tquat<T, Q> const& x); - - /// @} -} //namespace glm - -#include "quaternion.inl" |