1 /////////////////////////////////////////////////////////////////////////////////// 2 /// OpenGL Mathematics (glm.g-truc.net) 3 /// 4 /// Copyright (c) 2005 - 2014 G-Truc Creation (www.g-truc.net) 5 /// Permission is hereby granted, free of charge, to any person obtaining a copy 6 /// of this software and associated documentation files (the "Software"), to deal 7 /// in the Software without restriction, including without limitation the rights 8 /// to use, copy, modify, merge, publish, distribute, sublicense, and/or sell 9 /// copies of the Software, and to permit persons to whom the Software is 10 /// furnished to do so, subject to the following conditions: 11 /// 12 /// The above copyright notice and this permission notice shall be included in 13 /// all copies or substantial portions of the Software. 14 /// 15 /// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 16 /// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 17 /// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE 18 /// AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 19 /// LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 20 /// OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN 21 /// THE SOFTWARE. 22 /// 23 /// @ref gtx_quaternion 24 /// @file glm/gtx/quaternion.hpp 25 /// @date 2005-12-21 / 2011-06-07 26 /// @author Christophe Riccio 27 /// 28 /// @see core (dependence) 29 /// @see gtx_extented_min_max (dependence) 30 /// 31 /// @defgroup gtx_quaternion GLM_GTX_quaternion 32 /// @ingroup gtx 33 /// 34 /// @brief Extented quaternion types and functions 35 /// 36 /// <glm/gtx/quaternion.hpp> need to be included to use these functionalities. 37 /////////////////////////////////////////////////////////////////////////////////// 38 39 #ifndef GLM_GTX_quaternion 40 #define GLM_GTX_quaternion 41 42 // Dependency: 43 #include "../glm.hpp" 44 #include "../gtc/constants.hpp" 45 #include "../gtc/quaternion.hpp" 46 #include "../gtx/norm.hpp" 47 48 #if(defined(GLM_MESSAGES) && !defined(GLM_EXT_INCLUDED)) 49 # pragma message("GLM: GLM_GTX_quaternion extension included") 50 #endif 51 52 namespace glm 53 { 54 /// @addtogroup gtx_quaternion 55 /// @{ 56 57 //! Compute a cross product between a quaternion and a vector. 58 /// 59 /// @see gtx_quaternion 60 template<typename T, precision P> 61 GLM_FUNC_DECL detail::tvec3<T, P> cross( 62 detail::tquat<T, P> const & q, 63 detail::tvec3<T, P> const & v); 64 65 //! Compute a cross product between a vector and a quaternion. 66 /// 67 /// @see gtx_quaternion 68 template<typename T, precision P> 69 GLM_FUNC_DECL detail::tvec3<T, P> cross( 70 detail::tvec3<T, P> const & v, 71 detail::tquat<T, P> const & q); 72 73 //! Compute a point on a path according squad equation. 74 //! q1 and q2 are control points; s1 and s2 are intermediate control points. 75 /// 76 /// @see gtx_quaternion 77 template<typename T, precision P> 78 GLM_FUNC_DECL detail::tquat<T, P> squad( 79 detail::tquat<T, P> const & q1, 80 detail::tquat<T, P> const & q2, 81 detail::tquat<T, P> const & s1, 82 detail::tquat<T, P> const & s2, 83 T const & h); 84 85 //! Returns an intermediate control point for squad interpolation. 86 /// 87 /// @see gtx_quaternion 88 template<typename T, precision P> 89 GLM_FUNC_DECL detail::tquat<T, P> intermediate( 90 detail::tquat<T, P> const & prev, 91 detail::tquat<T, P> const & curr, 92 detail::tquat<T, P> const & next); 93 94 //! Returns a exp of a quaternion. 95 /// 96 /// @see gtx_quaternion 97 template<typename T, precision P> 98 GLM_FUNC_DECL detail::tquat<T, P> exp( 99 detail::tquat<T, P> const & q); 100 101 //! Returns a log of a quaternion. 102 /// 103 /// @see gtx_quaternion 104 template<typename T, precision P> 105 GLM_FUNC_DECL detail::tquat<T, P> log( 106 detail::tquat<T, P> const & q); 107 108 /// Returns x raised to the y power. 109 /// 110 /// @see gtx_quaternion 111 template<typename T, precision P> 112 GLM_FUNC_DECL detail::tquat<T, P> pow( 113 detail::tquat<T, P> const & x, 114 T const & y); 115 116 //! Returns quarternion square root. 117 /// 118 /// @see gtx_quaternion 119 //template<typename T, precision P> 120 //detail::tquat<T, P> sqrt( 121 // detail::tquat<T, P> const & q); 122 123 //! Rotates a 3 components vector by a quaternion. 124 /// 125 /// @see gtx_quaternion 126 template<typename T, precision P> 127 GLM_FUNC_DECL detail::tvec3<T, P> rotate( 128 detail::tquat<T, P> const & q, 129 detail::tvec3<T, P> const & v); 130 131 /// Rotates a 4 components vector by a quaternion. 132 /// 133 /// @see gtx_quaternion 134 template<typename T, precision P> 135 GLM_FUNC_DECL detail::tvec4<T, P> rotate( 136 detail::tquat<T, P> const & q, 137 detail::tvec4<T, P> const & v); 138 139 /// Extract the real component of a quaternion. 140 /// 141 /// @see gtx_quaternion 142 template<typename T, precision P> 143 GLM_FUNC_DECL T extractRealComponent( 144 detail::tquat<T, P> const & q); 145 146 /// Converts a quaternion to a 3 * 3 matrix. 147 /// 148 /// @see gtx_quaternion 149 template<typename T, precision P> toMat3(detail::tquat<T,P> const & x)150 GLM_FUNC_DECL detail::tmat3x3<T, P> toMat3( 151 detail::tquat<T, P> const & x){return mat3_cast(x);} 152 153 /// Converts a quaternion to a 4 * 4 matrix. 154 /// 155 /// @see gtx_quaternion 156 template<typename T, precision P> toMat4(detail::tquat<T,P> const & x)157 GLM_FUNC_DECL detail::tmat4x4<T, P> toMat4( 158 detail::tquat<T, P> const & x){return mat4_cast(x);} 159 160 /// Converts a 3 * 3 matrix to a quaternion. 161 /// 162 /// @see gtx_quaternion 163 template<typename T, precision P> toQuat(detail::tmat3x3<T,P> const & x)164 GLM_FUNC_DECL detail::tquat<T, P> toQuat( 165 detail::tmat3x3<T, P> const & x){return quat_cast(x);} 166 167 /// Converts a 4 * 4 matrix to a quaternion. 168 /// 169 /// @see gtx_quaternion 170 template<typename T, precision P> toQuat(detail::tmat4x4<T,P> const & x)171 GLM_FUNC_DECL detail::tquat<T, P> toQuat( 172 detail::tmat4x4<T, P> const & x){return quat_cast(x);} 173 174 /// Quaternion interpolation using the rotation short path. 175 /// 176 /// @see gtx_quaternion 177 template<typename T, precision P> 178 GLM_FUNC_DECL detail::tquat<T, P> shortMix( 179 detail::tquat<T, P> const & x, 180 detail::tquat<T, P> const & y, 181 T const & a); 182 183 /// Quaternion normalized linear interpolation. 184 /// 185 /// @see gtx_quaternion 186 template<typename T, precision P> 187 GLM_FUNC_DECL detail::tquat<T, P> fastMix( 188 detail::tquat<T, P> const & x, 189 detail::tquat<T, P> const & y, 190 T const & a); 191 192 /// Compute the rotation between two vectors. 193 /// param orig vector, needs to be normalized 194 /// param dest vector, needs to be normalized 195 /// 196 /// @see gtx_quaternion 197 template<typename T, precision P> 198 GLM_FUNC_DECL detail::tquat<T, P> rotation( 199 detail::tvec3<T, P> const & orig, 200 detail::tvec3<T, P> const & dest); 201 202 /// Returns the squared length of x. 203 /// 204 /// @see gtx_quaternion 205 template<typename T, precision P> 206 GLM_FUNC_DECL T length2(detail::tquat<T, P> const & q); 207 208 /// @} 209 }//namespace glm 210 211 #include "quaternion.inl" 212 213 #endif//GLM_GTX_quaternion 214