0.9.8: quaternion.hpp Source File

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gtc/quaternion.hpp
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1
15 #pragma once
16
17 // Dependency:
18 #include "../mat3x3.hpp"
19 #include "../mat4x4.hpp"
20 #include "../vec3.hpp"
21 #include "../vec4.hpp"
22 #include "../gtc/constants.hpp"
23
24 #if GLM_MESSAGES == GLM_MESSAGES_ENABLED && !defined(GLM_EXT_INCLUDED)
25 # pragma message("GLM: GLM_GTC_quaternion extension included")
26 #endif
27
28 namespace glm
29 {
32
33 template <typename T, precision P = defaultp>
34 struct tquat
35 {
36 // -- Implementation detail --
37
38 typedef tquat<T, P> type;
39 typedef T value_type;
40
41 // -- Data --
42
43 # if GLM_HAS_ALIGNED_TYPE
44 # if GLM_COMPILER & GLM_COMPILER_GCC
45 # pragma GCC diagnostic push
46 # pragma GCC diagnostic ignored "-pedantic"
47 # endif
48 # if GLM_COMPILER & GLM_COMPILER_CLANG
49 # pragma clang diagnostic push
50 # pragma clang diagnostic ignored "-Wgnu-anonymous-struct"
51 # pragma clang diagnostic ignored "-Wnested-anon-types"
52 # endif
53
54 union
55 {
56 struct { T x, y, z, w;};
57 typename detail::storage<T, sizeof(T) * 4, detail::is_aligned<P>::value>::type data;
58 };
59
60 # if GLM_COMPILER & GLM_COMPILER_CLANG
61 # pragma clang diagnostic pop
62 # endif
63 # if GLM_COMPILER & GLM_COMPILER_GCC
64 # pragma GCC diagnostic pop
65 # endif
66 # else
67 T x, y, z, w;
68 # endif
69
70 // -- Component accesses --
71
72 typedef length_t length_type;
74 GLM_FUNC_DECL GLM_CONSTEXPR length_type length() const;
75
76 GLM_FUNC_DECL T & operator[](length_type i);
77 GLM_FUNC_DECL T const & operator[](length_type i) const;
78
79 // -- Implicit basic constructors --
80
81 GLM_FUNC_DECL GLM_CONSTEXPR tquat() GLM_DEFAULT_CTOR;
82 GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, P> const & q) GLM_DEFAULT;
83 template <precision Q>
84 GLM_FUNC_DECL GLM_CONSTEXPR tquat(tquat<T, Q> const & q);
85
86 // -- Explicit basic constructors --
87
88 GLM_FUNC_DECL GLM_CONSTEXPR_CTOR explicit tquat(ctor);
89 GLM_FUNC_DECL GLM_CONSTEXPR tquat(T const & s, tvec3<T, P> const & v);
90 GLM_FUNC_DECL GLM_CONSTEXPR tquat(T const & w, T const & x, T const & y, T const & z);
91
92 // -- Conversion constructors --
93
94 template <typename U, precision Q>
95 GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT tquat(tquat<U, Q> const & q);
96
98 # if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
99 GLM_FUNC_DECL explicit operator tmat3x3<T, P>();
100 GLM_FUNC_DECL explicit operator tmat4x4<T, P>();
101 # endif
102
109 GLM_FUNC_DECL tquat(tvec3<T, P> const & u, tvec3<T, P> const & v);
110
112 GLM_FUNC_DECL GLM_EXPLICIT tquat(tvec3<T, P> const & eulerAngles);
113 GLM_FUNC_DECL GLM_EXPLICIT tquat(tmat3x3<T, P> const & m);
114 GLM_FUNC_DECL GLM_EXPLICIT tquat(tmat4x4<T, P> const & m);
115
116 // -- Unary arithmetic operators --
117
118 GLM_FUNC_DECL tquat<T, P> & operator=(tquat<T, P> const & m) GLM_DEFAULT;
119
120 template <typename U>
121 GLM_FUNC_DECL tquat<T, P> & operator=(tquat<U, P> const & m);
122 template <typename U>
123 GLM_FUNC_DECL tquat<T, P> & operator+=(tquat<U, P> const & q);
124 template <typename U>
125 GLM_FUNC_DECL tquat<T, P> & operator-=(tquat<U, P> const & q);
126 template <typename U>
127 GLM_FUNC_DECL tquat<T, P> & operator*=(tquat<U, P> const & q);
128 template <typename U>
129 GLM_FUNC_DECL tquat<T, P> & operator*=(U s);
130 template <typename U>
131 GLM_FUNC_DECL tquat<T, P> & operator/=(U s);
132 };
133
134 // -- Unary bit operators --
135
136 template <typename T, precision P>
137 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q);
138
139 template <typename T, precision P>
140 GLM_FUNC_DECL tquat<T, P> operator-(tquat<T, P> const & q);
141
142 // -- Binary operators --
143
144 template <typename T, precision P>
145 GLM_FUNC_DECL tquat<T, P> operator+(tquat<T, P> const & q, tquat<T, P> const & p);
146
147 template <typename T, precision P>
148 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, tquat<T, P> const & p);
149
150 template <typename T, precision P>
151 GLM_FUNC_DECL tvec3<T, P> operator*(tquat<T, P> const & q, tvec3<T, P> const & v);
152
153 template <typename T, precision P>
154 GLM_FUNC_DECL tvec3<T, P> operator*(tvec3<T, P> const & v, tquat<T, P> const & q);
155
156 template <typename T, precision P>
157 GLM_FUNC_DECL tvec4<T, P> operator*(tquat<T, P> const & q, tvec4<T, P> const & v);
158
159 template <typename T, precision P>
160 GLM_FUNC_DECL tvec4<T, P> operator*(tvec4<T, P> const & v, tquat<T, P> const & q);
161
162 template <typename T, precision P>
163 GLM_FUNC_DECL tquat<T, P> operator*(tquat<T, P> const & q, T const & s);
164
165 template <typename T, precision P>
166 GLM_FUNC_DECL tquat<T, P> operator*(T const & s, tquat<T, P> const & q);
167
168 template <typename T, precision P>
169 GLM_FUNC_DECL tquat<T, P> operator/(tquat<T, P> const & q, T const & s);
170
171 // -- Boolean operators --
172
173 template <typename T, precision P>
174 GLM_FUNC_DECL bool operator==(tquat<T, P> const & q1, tquat<T, P> const & q2);
175
176 template <typename T, precision P>
177 GLM_FUNC_DECL bool operator!=(tquat<T, P> const & q1, tquat<T, P> const & q2);
178
182 template <typename T, precision P>
183 GLM_FUNC_DECL T length(tquat<T, P> const & q);
184
188 template <typename T, precision P>
189 GLM_FUNC_DECL tquat<T, P> normalize(tquat<T, P> const & q);
190
194 template <typename T, precision P, template <typename, precision> class quatType>
195 GLM_FUNC_DECL T dot(quatType<T, P> const & x, quatType<T, P> const & y);
196
207 template <typename T, precision P>
208 GLM_FUNC_DECL tquat<T, P> mix(tquat<T, P> const & x, tquat<T, P> const & y, T a);
209
218 template <typename T, precision P>
219 GLM_FUNC_DECL tquat<T, P> lerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
220
229 template <typename T, precision P>
230 GLM_FUNC_DECL tquat<T, P> slerp(tquat<T, P> const & x, tquat<T, P> const & y, T a);
231
235 template <typename T, precision P>
236 GLM_FUNC_DECL tquat<T, P> conjugate(tquat<T, P> const & q);
237
241 template <typename T, precision P>
242 GLM_FUNC_DECL tquat<T, P> inverse(tquat<T, P> const & q);
243
251 template <typename T, precision P>
252 GLM_FUNC_DECL tquat<T, P> rotate(tquat<T, P> const & q, T const & angle, tvec3<T, P> const & axis);
253
258 template <typename T, precision P>
259 GLM_FUNC_DECL tvec3<T, P> eulerAngles(tquat<T, P> const & x);
260
264 template <typename T, precision P>
265 GLM_FUNC_DECL T roll(tquat<T, P> const & x);
266
270 template <typename T, precision P>
271 GLM_FUNC_DECL T pitch(tquat<T, P> const & x);
272
276 template <typename T, precision P>
277 GLM_FUNC_DECL T yaw(tquat<T, P> const & x);
278
282 template <typename T, precision P>
283 GLM_FUNC_DECL tmat3x3<T, P> mat3_cast(tquat<T, P> const & x);
284
288 template <typename T, precision P>
289 GLM_FUNC_DECL tmat4x4<T, P> mat4_cast(tquat<T, P> const & x);
290
294 template <typename T, precision P>
295 GLM_FUNC_DECL tquat<T, P> quat_cast(tmat3x3<T, P> const & x);
296
300 template <typename T, precision P>
301 GLM_FUNC_DECL tquat<T, P> quat_cast(tmat4x4<T, P> const & x);
302
306 template <typename T, precision P>
307 GLM_FUNC_DECL T angle(tquat<T, P> const & x);
308
312 template <typename T, precision P>
313 GLM_FUNC_DECL tvec3<T, P> axis(tquat<T, P> const & x);
314
321 template <typename T, precision P>
322 GLM_FUNC_DECL tquat<T, P> angleAxis(T const & angle, tvec3<T, P> const & axis);
323
329 template <typename T, precision P>
330 GLM_FUNC_DECL tvec4<bool, P> lessThan(tquat<T, P> const & x, tquat<T, P> const & y);
331
337 template <typename T, precision P>
338 GLM_FUNC_DECL tvec4<bool, P> lessThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
339
345 template <typename T, precision P>
346 GLM_FUNC_DECL tvec4<bool, P> greaterThan(tquat<T, P> const & x, tquat<T, P> const & y);
347
353 template <typename T, precision P>
354 GLM_FUNC_DECL tvec4<bool, P> greaterThanEqual(tquat<T, P> const & x, tquat<T, P> const & y);
355
361 template <typename T, precision P>
362 GLM_FUNC_DECL tvec4<bool, P> equal(tquat<T, P> const & x, tquat<T, P> const & y);
363
369 template <typename T, precision P>
370 GLM_FUNC_DECL tvec4<bool, P> notEqual(tquat<T, P> const & x, tquat<T, P> const & y);
371
381 template <typename T, precision P>
382 GLM_FUNC_DECL tvec4<bool, P> isnan(tquat<T, P> const & x);
383
391 template <typename T, precision P>
392 GLM_FUNC_DECL tvec4<bool, P> isinf(tquat<T, P> const & x);
393
395 } //namespace glm
396
397 #include "quaternion.inl"
glm::roll
GLM_FUNC_DECL T roll(tquat< T, P > const &x)
Returns roll value of euler angles expressed in radians.
glm::pitch
GLM_FUNC_DECL T pitch(tquat< T, P > const &x)
Returns pitch value of euler angles expressed in radians.
glm::equal
GLM_FUNC_DECL tvec4< bool, P > equal(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x == y.
glm::rotate
GLM_FUNC_DECL tquat< T, P > rotate(tquat< T, P > const &q, T const &angle, tvec3< T, P > const &axis)
Rotates a quaternion from a vector of 3 components axis and an angle.
glm::greaterThanEqual
GLM_FUNC_DECL tvec4< bool, P > greaterThanEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x >= y.
glm
Definition: _noise.hpp:11
glm::quat_cast
GLM_FUNC_DECL tquat< T, P > quat_cast(tmat4x4< T, P > const &x)
Converts a 4 * 4 matrix to a quaternion.
glm::isnan
GLM_FUNC_DECL tvec4< bool, P > isnan(tquat< T, P > const &x)
Returns true if x holds a NaN (not a number) representation in the underlying implementation's set of...
glm::conjugate
GLM_FUNC_DECL tquat< T, P > conjugate(tquat< T, P > const &q)
Returns the q conjugate.
glm::greaterThan
GLM_FUNC_DECL tvec4< bool, P > greaterThan(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x > y.
glm::lerp
GLM_FUNC_DECL tquat< T, P > lerp(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Linear interpolation of two quaternions.
glm::mat4_cast
GLM_FUNC_DECL tmat4x4< T, P > mat4_cast(tquat< T, P > const &x)
Converts a quaternion to a 4 * 4 matrix.
glm::normalize
GLM_FUNC_DECL tquat< T, P > normalize(tquat< T, P > const &q)
Returns the normalized quaternion.
glm::length
GLM_FUNC_DECL T length(tquat< T, P > const &q)
Returns the length of the quaternion.
glm::axis
GLM_FUNC_DECL tvec3< T, P > axis(tquat< T, P > const &x)
Returns the q rotation axis.
glm::dot
GLM_FUNC_DECL T dot(quatType< T, P > const &x, quatType< T, P > const &y)
Returns dot product of q1 and q2, i.e., q1[0] * q2[0] + q1[1] * q2[1] + ...
glm::lessThanEqual
GLM_FUNC_DECL tvec4< bool, P > lessThanEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x <= y.
glm::eulerAngles
GLM_FUNC_DECL tvec3< T, P > eulerAngles(tquat< T, P > const &x)
Returns euler angles, pitch as x, yaw as y, roll as z.
glm::angle
GLM_FUNC_DECL T angle(tquat< T, P > const &x)
Returns the quaternion rotation angle.
glm::slerp
GLM_FUNC_DECL tquat< T, P > slerp(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::notEqual
GLM_FUNC_DECL tvec4< bool, P > notEqual(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison of result x != y.
glm::mat3_cast
GLM_FUNC_DECL tmat3x3< T, P > mat3_cast(tquat< T, P > const &x)
Converts a quaternion to a 3 * 3 matrix.
glm::angleAxis
GLM_FUNC_DECL tquat< T, P > angleAxis(T const &angle, tvec3< T, P > const &axis)
Build a quaternion from an angle and a normalized axis.
glm::lessThan
GLM_FUNC_DECL tvec4< bool, P > lessThan(tquat< T, P > const &x, tquat< T, P > const &y)
Returns the component-wise comparison result of x < y.
glm::isinf
GLM_FUNC_DECL tvec4< bool, P > isinf(tquat< T, P > const &x)
Returns true if x holds a positive infinity or negative infinity representation in the underlying imp...
glm::mix
GLM_FUNC_DECL tquat< T, P > mix(tquat< T, P > const &x, tquat< T, P > const &y, T a)
Spherical linear interpolation of two quaternions.
glm::inverse
GLM_FUNC_DECL tquat< T, P > inverse(tquat< T, P > const &q)
Returns the q inverse.
glm::yaw
GLM_FUNC_DECL T yaw(tquat< T, P > const &x)
Returns yaw value of euler angles expressed in radians.