diff options
Diffstat (limited to 'external/include/glm/gtx/quaternion.hpp')
| -rw-r--r-- | external/include/glm/gtx/quaternion.hpp | 187 |
1 files changed, 112 insertions, 75 deletions
diff --git a/external/include/glm/gtx/quaternion.hpp b/external/include/glm/gtx/quaternion.hpp index 674d7e7..7310d08 100644 --- a/external/include/glm/gtx/quaternion.hpp +++ b/external/include/glm/gtx/quaternion.hpp @@ -7,9 +7,9 @@ /// @defgroup gtx_quaternion GLM_GTX_quaternion /// @ingroup gtx /// -/// @brief Extented quaternion types and functions +/// Include <glm/gtx/quaternion.hpp> to use the features of this extension. /// -/// <glm/gtx/quaternion.hpp> need to be included to use these functionalities. +/// Extented quaternion types and functions #pragma once @@ -19,6 +19,10 @@ #include "../gtc/quaternion.hpp" #include "../gtx/norm.hpp" +#ifndef GLM_ENABLE_EXPERIMENTAL +# 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." +#endif + #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED) # pragma message("GLM: GLM_GTX_quaternion extension included") #endif @@ -28,156 +32,189 @@ namespace glm /// @addtogroup gtx_quaternion /// @{ + /// Create an identity quaternion. + /// + /// @see gtx_quaternion + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> quat_identity(); + /// 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL vec<3, T, Q> cross( + tquat<T, Q> const& q, + vec<3, T, Q> 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL vec<3, T, Q> cross( + vec<3, T, Q> const& v, + tquat<T, Q> const& q); - //! Compute a point on a path according squad equation. + //! 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> squad( + tquat<T, Q> const& q1, + tquat<T, Q> const& q2, + tquat<T, Q> const& s1, + tquat<T, Q> 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> intermediate( + tquat<T, Q> const& prev, + tquat<T, Q> const& curr, + tquat<T, Q> 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> exp( + tquat<T, Q> 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> log( + tquat<T, Q> 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> pow( + tquat<T, Q> 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); + //template<typename T, qualifier Q> + //tquat<T, Q> sqrt( + // tquat<T, Q> 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL vec<3, T, Q> rotate( + tquat<T, Q> const& q, + vec<3, T, Q> 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL vec<4, T, Q> rotate( + tquat<T, Q> const& q, + vec<4, T, Q> const& v); /// Extract the real component of a quaternion. /// /// @see gtx_quaternion - template<typename T, precision P> + template<typename T, qualifier Q> GLM_FUNC_DECL T extractRealComponent( - tquat<T, P> const & q); + tquat<T, Q> 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);} + template<typename T, qualifier Q> + GLM_FUNC_DECL mat<3, 3, T, Q> toMat3( + tquat<T, Q> 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);} + template<typename T, qualifier Q> + GLM_FUNC_DECL mat<4, 4, T, Q> toMat4( + tquat<T, Q> 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);} + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> toQuat( + mat<3, 3, T, Q> 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);} + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> toQuat( + mat<4, 4, T, Q> 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> shortMix( + tquat<T, Q> const& x, + tquat<T, Q> 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> fastMix( + tquat<T, Q> const& x, + tquat<T, Q> 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); + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> rotation( + vec<3, T, Q> const& orig, + vec<3, T, Q> const& dest); + + /// Build a look at quaternion based on the default handedness. + /// + /// @param direction Desired forward direction. Needs to be normalized. + /// @param up Up vector, how the camera is oriented. Typically (0, 1, 0). + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> quatLookAt( + vec<3, T, Q> const& direction, + vec<3, T, Q> const& up); + + /// Build a right-handed look at quaternion. + /// + /// @param direction Desired forward direction onto which the -z-axis gets mapped. Needs to be normalized. + /// @param up Up vector, how the camera is oriented. Typically (0, 1, 0). + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> quatLookAtRH( + vec<3, T, Q> const& direction, + vec<3, T, Q> const& up); + + /// Build a left-handed look at quaternion. + /// + /// @param direction Desired forward direction onto which the +z-axis gets mapped. Needs to be normalized. + /// @param up Up vector, how the camera is oriented. Typically (0, 1, 0). + template<typename T, qualifier Q> + GLM_FUNC_DECL tquat<T, Q> quatLookAtLH( + vec<3, T, Q> const& direction, + vec<3, T, Q> const& up); /// Returns the squared length of x. - /// + /// /// @see gtx_quaternion - template<typename T, precision P> - GLM_FUNC_DECL T length2(tquat<T, P> const & q); + template<typename T, qualifier Q> + GLM_FUNC_DECL T length2(tquat<T, Q> const& q); /// @} }//namespace glm |