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ShaderPlayground / deps / glm / glm / detail / type_quat.hpp
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1/// @ref gtc_quaternion
2/// @file glm/gtc/quaternion.hpp
3///
4/// @see core (dependence)
5/// @see gtc_constants (dependence)
6///
7/// @defgroup gtc_quaternion GLM_GTC_quaternion
8/// @ingroup gtc
9///
10/// Include <glm/gtc/quaternion.hpp> to use the features of this extension.
11///
12/// Defines a templated quaternion type and several quaternion operations.
13
14#pragma once
15
16// Dependency:
17#include "../detail/type_mat3x3.hpp"
18#include "../detail/type_mat4x4.hpp"
19#include "../detail/type_vec3.hpp"
20#include "../detail/type_vec4.hpp"
21#include "../ext/vector_relational.hpp"
22#include "../ext/quaternion_relational.hpp"
23#include "../gtc/constants.hpp"
24#include "../gtc/matrix_transform.hpp"
25
26namespace glm
27{
28 /// @addtogroup gtc_quaternion
29 /// @{
30
31 template<typename T, qualifier Q>
32 struct qua
33 {
34 // -- Implementation detail --
35
36 typedef qua<T, Q> type;
37 typedef T value_type;
38
39 // -- Data --
40
41# if GLM_LANG & GLM_LANG_CXXMS_FLAG
42 union
43 {
44 struct { T x, y, z, w;};
45
46 typename detail::storage<4, T, detail::is_aligned<Q>::value>::type data;
47 };
48# else
49 T x, y, z, w;
50# endif
51
52 // -- Component accesses --
53
54 typedef length_t length_type;
55 /// Return the count of components of a quaternion
56 GLM_FUNC_DECL static GLM_CONSTEXPR length_type length(){return 4;}
57
58 GLM_FUNC_DECL GLM_CONSTEXPR T & operator[](length_type i);
59 GLM_FUNC_DECL GLM_CONSTEXPR T const& operator[](length_type i) const;
60
61 // -- Implicit basic constructors --
62
63 GLM_FUNC_DECL GLM_CONSTEXPR qua() GLM_DEFAULT;
64 GLM_FUNC_DECL GLM_CONSTEXPR qua(qua<T, Q> const& q) GLM_DEFAULT;
65 template<qualifier P>
66 GLM_FUNC_DECL GLM_CONSTEXPR qua(qua<T, P> const& q);
67
68 // -- Explicit basic constructors --
69
70 GLM_FUNC_DECL GLM_CONSTEXPR qua(T s, vec<3, T, Q> const& v);
71 GLM_FUNC_DECL GLM_CONSTEXPR qua(T w, T x, T y, T z);
72
73 // -- Conversion constructors --
74
75 template<typename U, qualifier P>
76 GLM_FUNC_DECL GLM_CONSTEXPR GLM_EXPLICIT qua(qua<U, P> const& q);
77
78 /// Explicit conversion operators
79# if GLM_HAS_EXPLICIT_CONVERSION_OPERATORS
80 GLM_FUNC_DECL explicit operator mat<3, 3, T, Q>();
81 GLM_FUNC_DECL explicit operator mat<4, 4, T, Q>();
82# endif
83
84 /// Create a quaternion from two normalized axis
85 ///
86 /// @param u A first normalized axis
87 /// @param v A second normalized axis
88 /// @see gtc_quaternion
89 /// @see http://lolengine.net/blog/2013/09/18/beautiful-maths-quaternion-from-vectors
90 GLM_FUNC_DECL qua(vec<3, T, Q> const& u, vec<3, T, Q> const& v);
91
92 /// Build a quaternion from euler angles (pitch, yaw, roll), in radians.
93 GLM_FUNC_DECL GLM_EXPLICIT qua(vec<3, T, Q> const& eulerAngles);
94 GLM_FUNC_DECL GLM_EXPLICIT qua(mat<3, 3, T, Q> const& q);
95 GLM_FUNC_DECL GLM_EXPLICIT qua(mat<4, 4, T, Q> const& q);
96
97 // -- Unary arithmetic operators --
98
99 GLM_FUNC_DECL qua<T, Q>& operator=(qua<T, Q> const& q) GLM_DEFAULT;
100
101 template<typename U>
102 GLM_FUNC_DECL qua<T, Q>& operator=(qua<U, Q> const& q);
103 template<typename U>
104 GLM_FUNC_DECL qua<T, Q>& operator+=(qua<U, Q> const& q);
105 template<typename U>
106 GLM_FUNC_DECL qua<T, Q>& operator-=(qua<U, Q> const& q);
107 template<typename U>
108 GLM_FUNC_DECL qua<T, Q>& operator*=(qua<U, Q> const& q);
109 template<typename U>
110 GLM_FUNC_DECL qua<T, Q>& operator*=(U s);
111 template<typename U>
112 GLM_FUNC_DECL qua<T, Q>& operator/=(U s);
113 };
114
115 // -- Unary bit operators --
116
117 template<typename T, qualifier Q>
118 GLM_FUNC_DECL qua<T, Q> operator+(qua<T, Q> const& q);
119
120 template<typename T, qualifier Q>
121 GLM_FUNC_DECL qua<T, Q> operator-(qua<T, Q> const& q);
122
123 // -- Binary operators --
124
125 template<typename T, qualifier Q>
126 GLM_FUNC_DECL qua<T, Q> operator+(qua<T, Q> const& q, qua<T, Q> const& p);
127
128 template<typename T, qualifier Q>
129 GLM_FUNC_DECL qua<T, Q> operator-(qua<T, Q> const& q, qua<T, Q> const& p);
130
131 template<typename T, qualifier Q>
132 GLM_FUNC_DECL qua<T, Q> operator*(qua<T, Q> const& q, qua<T, Q> const& p);
133
134 template<typename T, qualifier Q>
135 GLM_FUNC_DECL vec<3, T, Q> operator*(qua<T, Q> const& q, vec<3, T, Q> const& v);
136
137 template<typename T, qualifier Q>
138 GLM_FUNC_DECL vec<3, T, Q> operator*(vec<3, T, Q> const& v, qua<T, Q> const& q);
139
140 template<typename T, qualifier Q>
141 GLM_FUNC_DECL vec<4, T, Q> operator*(qua<T, Q> const& q, vec<4, T, Q> const& v);
142
143 template<typename T, qualifier Q>
144 GLM_FUNC_DECL vec<4, T, Q> operator*(vec<4, T, Q> const& v, qua<T, Q> const& q);
145
146 template<typename T, qualifier Q>
147 GLM_FUNC_DECL qua<T, Q> operator*(qua<T, Q> const& q, T const& s);
148
149 template<typename T, qualifier Q>
150 GLM_FUNC_DECL qua<T, Q> operator*(T const& s, qua<T, Q> const& q);
151
152 template<typename T, qualifier Q>
153 GLM_FUNC_DECL qua<T, Q> operator/(qua<T, Q> const& q, T const& s);
154
155 // -- Boolean operators --
156
157 template<typename T, qualifier Q>
158 GLM_FUNC_DECL GLM_CONSTEXPR bool operator==(qua<T, Q> const& q1, qua<T, Q> const& q2);
159
160 template<typename T, qualifier Q>
161 GLM_FUNC_DECL GLM_CONSTEXPR bool operator!=(qua<T, Q> const& q1, qua<T, Q> const& q2);
162
163 /// @}
164} //namespace glm
165
166#include "type_quat.inl"